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Re: Motor for arm: what should be used when?
Try adding more surgical tubing. More assistance will make it the same load in each direction, therefore keeping it from falling. If it just goes to fast in general, a victor/jag could work, but the better answer is ussualy to change your ratio.
As per the motor usage question...
The only "norm" in FIRST is CIMs on drive, and even that isn't followed by all teams (and doesn't need to be). After that, it depends on the application.
All the motors in this year's kit are great, pick the one you want to use, gear it approriately and you're good to go.
__________________
Metal Mustang Robotics 2410 (2008-2011)
2008 STL Rookie All-Star
2010 GKC Finalists
2010 OKC Champions
Alpine Robotics 159 (2012-)
2012 CO Finalists
700 miles from home, 2 miles from FRC. Life is good.
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It's up to veteran teams and mentors to help keep the original spirit of FIRST alive. - It's up to us to make these boards exemplify the FIRST principals in every post.
- Ben Mitchell [more] 
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