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Re: what motor did you use(arm)
2158 first used two Banebots with 256:1 gearboxes, which worked for several rotations of our arm over a two day period, but we quickly realized they weren't going to work when they began to smoke during a stall (they were stalled while the arm wasn't moving since they are backdrivable motors.
Then we switched to two keyang window motors for our arm since they were not backdrivable and they held up quite well for Lone Star and Atlanta, but shortly after during a demonstration, the gear inside one of the motors stripped out. It's been difficult finding a replacement because they're not commercially available, so next year we'll probably try and stay with motors that are replaceable.
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