[lupjohn]

This thread has definitely matured. I want to point out that InnovationFirst has provided the controller off the shelf for several years now. The new(2004) controller offers expanded capabilities that were not there earlier. I view AndyMark tranny as a similar component that will expand the capabilities of the off the shelf drill transmissions/FP gearboxes etc. Our team did not build the arm for various reasons part of was time spent on design and construction of an all shaft gear 4 wheel drive train using 4 of the FIRST supplied delrin gear boxes and two drill motors. A simple electrical short hampered the effectiveness of the platform but it competed both at Sacramento Regional and Nationals. The team members have decided generally to move beyond off the shelf and innovate to make up for observed failures and inefficiencies of the 2004 platform. This is a tool for them that will make a difference on other systems design and construction. They will be competing against Cheesy Poofs and Wildstang this year so a pyschological positive is being able to spend time on appendages. Time will tell. Thanks for the chance to share. LRU.