[Guy Davidson]

You can pretty much see everything here.

Each arm is ran by a globe with its gearbox, and then has an additional reduction of about 3:1 using chain and sprojcets. The wheel is a 4" diameter colson wheel ran by a fisher price connected to an AM Planetary. Each system has a 10-turn pot (what broke and killed us at Portland) with a sproket mounted on it spinning with the chain, using independently tuned PID loops to control the position of each arm. There is also an IR range finder mounted on the lexan block (right above the tether cable connection in the picture) used to monitor whether or not we have a ball, and stop the wheels accordingly.