[Mike Copioli]

Originally Posted by GUI

I see 5 cims in the nonadrive, FP for lifter and kicker, and window motor for ball grabber. It looks like 148 switched the FP's into the drivetrain and used cims for kicker and lifter.

We are using 5 cims for the Nano drive. Two Fisher Price, one for the kicker and one for the "Taco"(liter). A window motor is used for the grabber. I do not know if 148 has moved around the cims. As far as I know they have not. Encoders are used to track position and heading. CAN is used to control the motors via the 2CAN. We limit the current in the ball grabber to prevent over heating the window motor. A hall effect sensor is used to set the kicker cam timing.