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Re: Arms
Motors here. We've almost never used pneumatics for an arm. Fisher-Price motors are our motor of choice for lifting things, either by lift (put two on the same winch) or by arm (two on the same sprocket). The only things we use pneumatics for are shifting, the occaisional wedge/anti-tip device ('02-'04), and the occaisional arm extension. (This year, we have three cylinders. One is our grabber power and the other two shift.)
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Past teams:
2003-2007: FRC0330 BeachBots
2008: FRC1135 Shmoebotics
2012: FRC4046 Schroedinger's Dragons
"Rockets are tricky..."--Elon Musk

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