With some help from the CD programming forum, we were able to get our gyroscopic arm control code to keep the arm level while the robot is being tilted back (albeit slowly) without spilling any water.
Frame: Modified Low-Rider Kit-Bot, 1" ground clearance
Drive: 4 CIM’s with FIRST-supplied gearbox, tank steering
Arm: 5’ tower + 5’ pivoted arm + end effector (still in the works)
Arm Power: Dual FP (12V) w/ gearboxes + 8:1 sprocket reduction
Arm Specs: 177 ft-lb. torque at max efficiency, ~90 degrees/sec max rotation, rate-limited to 30 degrees/sec (for now…)
Autonomous: vision tracking, hopefully, + some backups