Let me add that after hearing the experiences here on CD that teams such as 1114 had mid season with these gearbox's, we did some major redesigning and and re-thinking of our arm design. We designed our arm using two FP to power it, both into 256:1 gearbox's, 1:4 sprocket ratio after that, then added a 30 pound gas spring. We designed the arm to use 1/5 - 1/6 of the FP's stall torque, and even added heat-sinks and fans to keep them cooled. During our testing we were only drawing 8 amps between the two FP's... which is a small fraction of the motors tourque. Lets just say we babied these motors and gearbox's... and they still failed.
It looks like we will try and move away from them now, using a much larger gas spring and a different motor to power the joint. I had high hopes for these gearbox's, they fit our needs perfectly... but ended up failing us. But these are the challenges we have to deal with in this competition, I just wish we could have spent more time on the programing challenges then spending ship night on poorly made gearbox's.
Here is a picture of our arm setup, our three other joints were working really well (turret, extension, and manipulator) with PID controls.
