[Rickertsen2]

CMU cam
Used for turret autotracking on both the pan and tilt axis

Encoders
256 count on pan axis of turret
1024 count on tilt axis of turret
both used for closed loop control in conjuction with CMU cam and limit switches

AB Photoswitch
Used to sense balls in our loading mechanism

TI Analog pressure transducer
senses when we have enough pneumatics pressure to reliably fire

Limit switches
used to find the home position of both turret axis upon robot startup