paper: [Ri3D] The GreenHorns 2016 Present: Rivvet

[Ginger Power]

The turret would begin to drop when the angle between the ground and the shooter approached ~45 degrees as an estimate. I think if you're debating whether or not to add a mechanical brake to the shooter, I would recommend it. The reason I say this other than the back driving, the shooter would rock while driving, and especially while traversing obstacles. Stabilizing that seems like a good idea.

On the other hand... you could just ignore the rocking and then stall the articulation motor. Up to you!