[PhilBot]

We use use a third servo to rotate the puck picker.

We initially had a pair of servos on each claw (one to grip, and one to lift) but there were two problems.

1) We needed more than 180 deg rotation.
2) They weren't fast enough to "throw" the pucks into our dumping bin.

So We attached a 40 tooth gear to a single rotate servo, and drive a 20 tooth gear with it. The two gripper servos are attached to the shaft that the 20 tooth gear is on.

This way we can get up to a full rotation with twice the speed.
You need to set the "period" on the servo VI to 0 to get maximum speed.

To lift the puck bucket, we use two 12V motors (one of which has an encoder on it for positioning)