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We used a seat motor to change gears with an offset cam to actuate the linkage. In addition, limit switches were used to make sure that the seatmotor didn't walk out of gear. The grinding gears came from inadequate programming. Even though we used springs in the linkage, some programming has to be done to ensure proper gear engagement. Otherwise, the motors are too fast and never let the gears properly mesh (hence the grinding).
I'll try to post some pictures soon (or maybe email them to #111)
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