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Re: Pan/Tilt Assembly
In 2009 we built a turret for our robot. It was made from a PVC ring and four V-Channel bearings. It worked flawlessly and still works perfectly today. We will also be modifying it to be our T-Shirt cannon robot. Here are some pictures to help out.
The ring of screws created a sprocket out of the PVC ring so the gates belt could rotate it.
Look closely at the top of this one and you can just see the final product. In this picture the turret is pointed to the right and the motor is visible behind the "C" in "Force".
I'll see if I can get some more detailed picture of the drive mechanism. BTW, we included a pot for position feedback. That allowed us to actually follow another robot and fill 'em up in Autonomous. 
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CalGames 2009 Autonomous Champion Award winner
Sacramento 2010 Creativity in Design winner, Sacramento 2010 Quarter finalist
2011 Sacramento Finalist, 2011 Madtown Engineering Inspiration Award.
2012 Sacramento Semi-Finals, 2012 Sacramento Innovation in Control Award, 2012 SVR Judges Award.
2012 CalGames Autonomous Challenge Award winner ($$$).
2014 2X Rockwell Automation: Innovation in Control Award (CVR and SAC). Curie Division Gracious Professionalism Award.
2014 Capital City Classic Winner AND Runner Up. Madtown Throwdown: Runner up.
2015 Innovation in Control Award, Sacramento.
2016 Chezy Champs Finalist, 2016 MTTD Finalist
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