[Ryank]

sorry, horrible physics terminology, yes power is the problem, because time is the problem and torque or force is not.... though I ran the same calcs with the two globes and got 7.5 seconds, then with the CIMM and got .644 seconds. Soooo I think I will try to see if using the CIMM is viable. The only problem with the CIMM is it doesn't mechanically lock like the worm gear, so we have to supply massive amperage just to keep the arm from falling down, is there any way around that that's not nasty and complicated? I'm from a rookie team so I'm full of questions and not a lot of technical knowledge.

Kind of stinks though because we wanted to use four CIMMs on the drive train. But I looked and I think you can take the Andy Mark super shifter and a planetary gear box for the FP motors and set it up so the super shifter takes one FP and one CIMM instead of two CIMMs