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  <title>RoboRack Motorized Antenna Mount</title>਀  㰀洀攀琀愀 栀琀琀瀀ⴀ攀焀甀椀瘀㴀∀䌀漀渀琀攀渀琀ⴀ吀礀瀀攀∀ 挀漀渀琀攀渀琀㴀∀琀攀砀琀⼀栀琀洀氀㬀 挀栀愀爀猀攀琀㴀眀椀渀搀漀眀猀ⴀ㄀㈀㔀㈀∀㸀 
਀  㰀猀琀礀氀攀 琀礀瀀攀㴀∀琀攀砀琀⼀挀猀猀∀㸀 
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    H1 {font-family : Verdana, Geneva, Arial, Helvetica, sans-serif; font-size : 24; font-weight : bold;}਀    䠀㈀ 笀昀漀渀琀ⴀ昀愀洀椀氀礀 㨀 嘀攀爀搀愀渀愀Ⰰ 䜀攀渀攀瘀愀Ⰰ 䄀爀椀愀氀Ⰰ 䠀攀氀瘀攀琀椀挀愀Ⰰ 猀愀渀猀ⴀ猀攀爀椀昀㬀 昀漀渀琀ⴀ猀椀稀攀 㨀 ㄀㘀㬀 昀漀渀琀ⴀ眀攀椀最栀琀 㨀 戀漀氀搀㬀紀 
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    TD.big {font-family : Verdana, Geneva, Arial, Helvetica, sans-serif; font-size : 16;}਀    吀䐀⸀氀椀最栀琀 笀昀漀渀琀ⴀ昀愀洀椀氀礀 㨀 嘀攀爀搀愀渀愀Ⰰ 䜀攀渀攀瘀愀Ⰰ 䄀爀椀愀氀Ⰰ 䠀攀氀瘀攀琀椀挀愀Ⰰ 猀愀渀猀ⴀ猀攀爀椀昀㬀 昀漀渀琀ⴀ猀椀稀攀 㨀 ㄀㐀㬀 挀漀氀漀爀 㨀 ⌀䔀㘀䐀㤀㤀䈀㬀 昀漀渀琀ⴀ眀攀椀最栀琀 㨀 戀漀氀搀㬀紀 
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਀㰀戀漀搀礀 洀愀爀最椀渀眀椀搀琀栀㴀∀㠀　─∀ 洀愀爀最椀渀栀攀椀最栀琀㴀　 氀攀昀琀洀愀爀最椀渀㴀∀㄀　─∀ 琀漀瀀洀愀爀最椀渀㴀㈀　㸀 
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  A Metal Schnitzel work by WA1RUS, Updated 2/14/2009<br>਀  㰀戀㸀䈀攀 猀甀爀攀 琀漀 挀氀椀挀欀 琀栀攀 瀀椀挀琀甀爀攀猀 昀漀爀 愀 戀攀琀琀攀爀 瘀椀攀眀℀㰀⼀戀㸀 
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਀㰀瀀㸀㰀愀 栀爀攀昀㴀∀吀爀甀挀欀⸀樀瀀最∀㸀㰀椀洀最 猀爀挀㴀∀吀爀甀挀欀ⴀ䰀刀⸀樀瀀最∀ 愀氀椀最渀㴀∀爀椀最栀琀∀ 愀氀琀㴀∀吀栀攀 唀渀猀甀猀瀀攀挀琀椀渀最 嘀椀挀琀椀洀∀㸀㰀⼀愀㸀 
This project is a follow up to RoboMast.  RoboMast was a powered pivoting platform for a single antenna that used a ਀氀椀渀攀愀爀 愀挀琀甀愀琀漀爀 眀椀琀栀 椀渀琀攀爀渀愀氀 氀椀洀椀琀 猀眀椀琀挀栀攀猀 琀漀 爀愀椀猀攀 ☀ 氀漀眀攀爀 琀栀攀 愀渀琀攀渀渀愀⸀  䄀 挀攀渀琀攀爀ⴀ漀昀昀 琀漀最最氀攀 猀眀椀琀挀栀 椀渀猀椀搀攀 琀栀攀 瘀攀栀椀挀氀攀  
was used to initiate movement, but the limit switches made it automatically stop at its end of travel.  Like RoboMast, ਀刀漀戀漀刀愀挀欀 眀椀氀氀 戀攀 戀甀椀氀琀 眀椀琀栀 愀氀甀洀椀渀甀洀 愀渀搀 猀琀愀椀渀氀攀猀猀 猀琀攀攀氀 琀漀 攀氀椀洀椀渀愀琀攀 琀栀攀 瀀漀猀猀椀戀椀氀椀琀椀攀猀 漀昀 爀甀猀琀 愀渀搀 琀漀 洀愀欀攀 椀琀 愀 㰀椀㸀稀攀爀漀  
maintenance</i> device.  Bearings will be composite and also impervious to corrosion.਀㰀⼀瀀㸀 
਀㰀瀀㸀 
The downsides to my original RoboMast are a slow transit time of about 15 seconds (partly due to the use of a 24 volt ਀愀挀琀甀愀琀漀爀 眀椀琀栀 漀渀氀礀 ㄀㈀ 瘀漀氀琀猀⤀Ⰰ 氀愀挀欀 漀昀 瀀漀猀椀琀椀瘀攀 挀漀渀昀椀爀洀愀琀椀漀渀 漀昀 椀琀猀 瀀漀猀椀琀椀漀渀 眀椀琀栀漀甀琀 戀攀渀搀椀渀最 愀爀漀甀渀搀 琀漀 氀漀漀欀 愀琀 琀栀攀 愀渀琀攀渀渀愀  
and of course only a single antenna.  Also, the antenna cable is exposed and rubs as it moves, although this never led ਀琀漀 挀愀戀氀攀 搀愀洀愀最攀⸀ 
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<p>਀刀漀戀漀刀愀挀欀 眀椀氀氀 栀愀瘀攀 愀 洀甀挀栀 昀愀猀琀攀爀 琀爀愀渀猀椀琀 琀椀洀攀 漀昀 愀戀漀甀琀 㘀 猀攀挀漀渀搀猀Ⰰ 椀琀 眀椀氀氀 栀愀瘀攀 愀渀  
<a href="http://www.sparkfun.com/commerce/product_info.php?products_id=812" target="new">LCD display</a> to show the ਀漀瀀攀爀愀琀漀爀 椀琀猀 挀甀爀爀攀渀琀 瀀漀猀椀琀椀漀渀 愀渀搀 椀琀 眀椀氀氀 猀甀瀀瀀漀爀琀 猀攀瘀攀爀愀氀 愀渀琀攀渀渀愀猀⸀  吀栀攀 挀愀戀氀攀猀 眀椀氀氀 戀攀 瀀爀漀琀攀挀琀攀搀 椀渀猀椀搀攀 琀栀攀 猀琀爀甀挀琀甀爀攀  
and will have provisions to prevent damage from chafing and rubbing.  It will be controlled by a microprocessor with a ਀甀猀攀爀 椀渀琀攀爀昀愀挀攀 琀攀爀洀椀渀愀氀 洀漀甀渀琀攀搀 椀渀猀椀搀攀 琀栀攀 瘀攀栀椀挀氀攀⸀  吀栀攀 䰀䌀䐀 搀椀猀瀀氀愀礀 眀椀氀氀 猀栀漀眀 琀栀攀 搀攀瘀椀挀攀✀猀 瀀漀猀椀琀椀漀渀 愀猀 眀攀氀氀 愀猀 琀漀琀愀氀  
height for bridge clearance.  The control will be a simple <a href="http://www.ctscorp.com/components/datasheets/288.pdf" target="new">digital rotary encoder</a> (knob) to make selections and that knob has a pushbutton function.਀㰀⼀瀀㸀 
਀㰀瀀㸀䤀 愀氀爀攀愀搀礀 栀愀瘀攀 瀀氀愀渀猀 琀漀 洀漀甀渀琀 愀 㰀愀 栀爀攀昀㴀∀栀琀琀瀀㨀⼀⼀眀眀眀⸀猀瀀愀爀欀昀甀渀⸀挀漀洀⼀挀漀洀洀攀爀挀攀⼀瀀爀漀搀甀挀琀开椀渀昀漀⸀瀀栀瀀㼀瀀爀漀搀甀挀琀猀开椀搀㴀㠀㤀㜀㔀∀ 琀愀爀最攀琀㴀∀渀攀眀∀㸀 
GPS module</a> under a custom-molded radome to it to provide data to a laptop and to my radios.  Maybe someday, RoboMast will ਀攀瘀攀渀 愀甀琀漀洀愀琀椀挀愀氀氀礀 氀漀眀攀爀 琀栀攀 愀渀琀攀渀渀愀猀 眀栀攀渀 䤀 愀瀀瀀爀漀愀挀栀 瀀爀攀ⴀ搀攀猀椀最渀愀琀攀搀 氀漀眀ⴀ挀氀攀愀爀愀渀挀攀 愀爀攀愀猀⸀  伀昀 挀漀甀爀猀攀 琀栀攀 爀攀愀氀 瀀甀爀瀀漀猀攀 戀攀栀椀渀搀  
this whole project is to build something new and to spend ridiculous amounts of time thinking about it, designing, building ਀愀渀搀 爀攀搀攀猀椀最渀椀渀最⸀  䤀昀 䤀 最攀琀 猀漀洀攀琀栀椀渀最 甀猀攀昀甀氀 愀琀 琀栀攀 攀渀搀Ⰰ 琀栀攀渀 猀漀洀攀琀栀椀渀最 洀甀猀琀✀瘀攀 愀挀挀椀搀攀渀琀愀氀氀礀 最漀渀攀 爀椀最栀琀⸀ 
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<p>਀䤀 搀漀渀✀琀 栀愀瘀攀 愀渀 漀瘀攀爀瘀椀攀眀 瀀氀愀渀 礀攀琀 ⴀⴀ 愀氀氀 琀栀愀琀 攀砀椀猀琀猀 漀渀氀礀 椀渀 洀礀 栀攀愀搀 ⴀⴀ 戀甀琀 琀栀攀 椀搀攀愀 椀猀 琀栀愀琀 琀栀攀 搀攀瘀椀挀攀 洀漀甀渀琀猀 琀漀 洀礀 琀爀甀挀欀  
just behind the cab like a roll bar.  In the photo above, you can see my original RoboMast.  In its place, a 2" x 3" aluminum ਀琀甀戀攀 眀椀氀氀 戀攀 洀漀甀渀琀攀搀 琀漀 琀栀攀 昀爀漀渀琀 戀攀搀 爀愀椀氀⸀  䄀渀漀琀栀攀爀 琀甀戀攀 眀椀氀氀 戀攀 洀漀甀渀琀攀搀 漀渀 琀栀攀 漀琀栀攀爀 猀椀搀攀 愀渀搀 愀 㐀㠀∀ 氀漀渀最 漀渀攀 眀椀氀氀 爀甀渀  
between them at the roof level.  A chain drive mechanism will live inside one of the vertical tubes and the antenna cables ਀眀椀氀氀 瀀愀猀猀 琀栀爀漀甀最栀 琀栀攀 漀琀栀攀爀⸀ 
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<H2>Power Source & Motor</H2>਀㰀瀀㸀㰀愀 栀爀攀昀㴀∀倀漀眀攀爀䤀渀瘀攀爀琀攀爀⸀樀瀀最∀㸀㰀椀洀最 猀爀挀㴀∀倀漀眀攀爀䤀渀瘀攀爀琀攀爀ⴀ䰀刀⸀樀瀀最∀ 愀氀椀最渀㴀∀爀椀最栀琀∀ 愀氀琀㴀∀䐀䌀 倀漀眀攀爀 䤀渀瘀攀爀琀攀爀∀㸀㰀⼀愀㸀 
RoboRack will also use a 24 volt motor, but this time I have a ਀㰀愀 栀爀攀昀㴀∀栀琀琀瀀㨀⼀⼀眀眀眀⸀琀爀挀攀氀攀挀琀爀漀渀椀挀猀⸀挀漀洀⼀䴀攀愀渀眀攀氀氀⼀搀挀ⴀ搀挀ⴀ挀漀渀瘀攀爀琀攀爀ⴀ猀搀㔀　⸀猀栀琀洀氀∀ 琀愀爀最攀琀㴀∀渀攀眀∀㸀䐀䌀 椀渀瘀攀爀琀攀爀㰀⼀愀㸀 琀栀愀琀 眀椀氀氀 瀀爀漀搀甀挀攀  
24V out from 12V in.  Why not just use a 12 volt motor?  Well, I couldn't find an affordable 12V gear motor that had a low ਀攀渀漀甀最栀 漀甀琀瀀甀琀 刀倀䴀 愀渀搀 愀 昀愀椀爀 愀洀漀甀渀琀 漀昀 琀漀爀焀甀攀⸀  吀栀攀 椀搀攀愀氀 漀甀琀瀀甀琀 猀瀀攀攀搀 椀猀 愀戀漀甀琀 㐀 爀瀀洀⸀   
<a href="http://www.herbach.com/Merchant2/merchant.mv?Screen=PROD&Store_Code=HAR&Product_Code=TM97MTR3044&Category_Code=DCGEARHEAD" target="new">The one I found</a> is 24V with 4 RPM out and 70 oz-in of torque.  It has a great little planetary gear box ਀眀椀琀栀 愀戀漀甀琀 㐀 漀爀 㔀 猀琀愀最攀猀 琀漀 椀琀⸀  吀栀愀琀 洀愀欀攀猀 愀 瘀攀爀礀 挀漀洀瀀愀挀琀 瀀愀挀欀愀最攀⸀  䤀 最愀瘀攀 甀瀀 琀爀礀椀渀最 琀漀 搀攀猀椀最渀 洀礀 漀眀渀 最攀愀爀戀漀砀 眀椀琀栀  
off-the-shelf gears due to cost & complexity, so this was perfect.  I decided to get another 33% reduction through sprocket ਀猀椀稀椀渀最 琀漀 最愀椀渀 猀漀洀攀 洀漀爀攀 琀漀爀焀甀攀⸀ 
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<H2>Position Sensor</H2>਀㰀瀀㸀䄀 洀愀最渀攀琀椀挀 瀀漀猀椀琀椀漀渀 攀渀挀漀搀攀爀 眀椀氀氀 搀攀琀攀挀琀 愀渀搀 琀爀愀挀欀 琀栀攀 瀀漀猀椀琀椀漀渀 漀昀 琀栀攀 洀攀挀栀愀渀椀猀洀⸀  吀栀椀猀 攀渀挀漀搀攀爀 栀愀猀 愀 爀攀猀漀氀甀琀椀漀渀 漀昀 　⸀㌀㘀뀀 漀爀  
1,000 parts per revolution and is made by <a href="http://www.usdigital.com/" target="new">US Digital</a>.  It's an absolute ਀攀渀挀漀搀攀爀Ⰰ 猀漀 渀漀 攀渀搀ⴀ漀昀ⴀ琀爀愀瘀攀氀 猀攀渀猀漀爀 漀爀 瀀漀眀攀爀ⴀ漀渀 椀渀椀琀椀愀氀椀稀愀琀椀漀渀 椀猀 渀攀攀搀攀搀⸀ 
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<H2>Motor Drive Assembly</H2>਀㰀瀀㸀㰀愀 栀爀攀昀㴀∀刀漀戀漀刀愀挀欀䴀漀琀漀爀⸀眀洀瘀∀㸀㰀椀洀最 猀爀挀㴀∀䴀漀琀漀爀刀攀渀搀攀爀椀渀最ⴀ䰀刀⸀樀瀀最∀ 愀氀椀最渀㴀∀爀椀最栀琀∀ 愀氀琀㴀∀㌀䐀 刀攀渀搀攀爀椀渀最 伀昀 吀栀攀 䴀漀琀漀爀 䄀猀猀攀洀戀氀礀∀㸀㰀⼀愀㸀 
This has gotten the majority of the design work and late night thought.  This assembly will bolt up to the bottom of one of ਀琀栀攀 瘀攀爀琀椀挀愀氀 猀甀瀀瀀漀爀琀 琀甀戀攀猀 猀漀 琀栀攀 搀爀椀瘀攀 挀栀愀椀渀 爀甀渀猀 椀渀猀椀搀攀 琀栀攀 琀甀戀攀⸀  吀栀攀 洀漀琀漀爀 猀琀椀挀欀猀 漀甀琀 猀攀瘀攀爀愀氀 椀渀挀栀攀猀 猀漀 椀琀 眀椀氀氀 栀愀瘀攀 愀  
housing over it to protect it from the weather.  Once I had the basic design down, I created this 3D model to show how it's ਀瀀甀琀 琀漀最攀琀栀攀爀⸀  䌀氀椀挀欀 琀栀攀 瀀椀挀琀甀爀攀 琀漀 琀栀攀 爀椀最栀琀 琀漀 猀攀攀 琀栀攀 㰀愀 栀爀攀昀㴀∀刀漀戀漀刀愀挀欀䴀漀琀漀爀⸀眀洀瘀∀㸀愀渀椀洀愀琀椀漀渀㰀⼀愀㸀 ⠀㘀㘀㈀ 欀䈀 圀椀渀搀漀眀猀 䴀攀搀椀愀⤀⸀   
The outer housing is cutaway in this view so you can see the motor.਀㰀⼀瀀㸀 
਀㰀瀀㸀 
In order to bring everything together, I had to create a shaft adapter for the motor.  This is a piece that I machined from ਀猀漀氀椀搀 㔀⼀㠀∀ 猀琀愀椀渀氀攀猀猀 猀琀攀攀氀 戀愀爀 猀琀漀挀欀⸀  䤀琀 猀氀椀瀀猀 漀瘀攀爀 琀栀攀 洀漀琀漀爀 猀栀愀昀琀 愀渀搀 椀猀 瀀椀渀渀攀搀 漀渀 眀椀琀栀 愀 猀琀愀椀渀氀攀猀猀 爀漀氀氀 瀀椀渀⸀  吀栀攀 搀爀椀瘀攀  
sprocket slips over the adapter and locks on with two set screws.  A 1/4" extension turns the position sensor.  This was the ਀栀愀爀搀攀猀琀 瀀愀爀琀 琀漀 洀愀欀攀 戀攀挀愀甀猀攀 琀栀攀 猀攀渀猀漀爀✀猀 琀漀氀攀爀愀渀挀攀猀 愀爀攀 瘀攀爀礀 琀椀最栀琀⸀  䤀琀 漀渀氀礀 愀氀氀漀眀猀 昀漀爀 　⸀　　　㘀∀ 搀攀瘀椀愀琀椀漀渀 漀渀 琀栀攀 猀栀愀昀琀  
diameter and +0.04" / -0.02" on the length.  An attempt at a two-piece adapter (left) was a failure, the first one-piece ਀漀渀攀 ⠀挀攀渀琀攀爀⤀ 眀愀猀 漀甀琀 漀昀 琀漀氀攀爀愀渀挀攀 愀渀搀 琀栀攀 氀愀猀琀 漀渀攀 ⠀爀椀最栀琀⤀ 眀愀猀 瀀攀爀昀攀挀琀⸀  䈀礀 琀栀攀 眀愀礀Ⰰ 琀栀椀猀 椀猀 琀栀攀 昀椀爀猀琀 琀栀椀渀最 䤀 攀瘀攀爀 洀愀搀攀  
with a lathe.਀㰀⼀瀀㸀 
਀㰀瀀㸀㰀挀攀渀琀攀爀㸀 
<table cellpadding=5 cellspacing=5>਀  㰀琀爀㸀 
    <td>਀      㰀愀 栀爀攀昀㴀∀䰀愀琀栀攀伀瀀攀爀愀琀椀漀渀⸀樀瀀最∀㸀㰀椀洀最 猀爀挀㴀∀䰀愀琀栀攀伀瀀攀爀愀琀椀漀渀ⴀ䰀刀⸀樀瀀最∀ 愀氀椀最渀㴀∀爀椀最栀琀∀ 愀氀琀㴀∀䴀漀琀漀爀 匀栀愀昀琀 䄀搀愀瀀琀攀爀 伀渀 吀栀攀 䰀愀琀栀攀∀㸀㰀⼀愀㸀 
    </td>਀    㰀琀搀㸀 
      <a href="MotorShaftAdapter.jpg"><img src="MotorShaftAdapter-LR.jpg" align="right" alt="Motor Shaft Adapter Versions"></a>਀    㰀⼀琀搀㸀 
  </tr>਀  㰀琀爀㸀 
    <td align="center" valign="top">਀      䴀漀琀漀爀 匀栀愀昀琀 䄀搀愀瀀琀攀爀 伀渀 吀栀攀 䰀愀琀栀攀㰀戀爀㸀 
      Click for a video:<br>਀      㰀愀 栀爀攀昀㴀∀䰀愀琀栀攀伀瀀攀爀愀琀椀漀渀⸀眀洀瘀∀㸀栀椀最栀 搀攀昀㰀⼀愀㸀 ⠀㄀　⸀㌀ 䴀䈀⤀ 漀爀 㰀愀 栀爀攀昀㴀∀䰀愀琀栀攀伀瀀攀爀愀琀椀漀渀䴀刀⸀眀洀瘀∀㸀爀攀最甀氀愀爀㰀⼀愀㸀 ⠀㈀⸀㄀ 䴀䈀⤀ 
    </td>਀    㰀琀搀 愀氀椀最渀㴀∀挀攀渀琀攀爀∀ 瘀愀氀椀最渀㴀∀琀漀瀀∀㸀 
      3 Versions Of The Adapter਀    㰀⼀琀搀㸀 
  </tr>਀ 
  <tr>਀    㰀琀搀㸀 
      <a href="MotorDriveTestFit.jpg"><img src="MotorDriveTestFit-LR.jpg" align="right" alt="Motor Drive Assembly"></a>਀    㰀⼀琀搀㸀 
    <td>਀      㰀愀 栀爀攀昀㴀∀䐀爀椀瘀攀匀瀀爀漀挀欀攀琀⸀樀瀀最∀㸀㰀椀洀最 猀爀挀㴀∀䐀爀椀瘀攀匀瀀爀漀挀欀攀琀ⴀ䰀刀⸀樀瀀最∀ 愀氀椀最渀㴀∀爀椀最栀琀∀ 愀氀琀㴀∀䐀爀椀瘀攀 匀瀀爀漀挀欀攀琀 䤀渀猀琀愀氀氀攀搀∀㸀㰀⼀愀㸀 
    </td>਀  㰀⼀琀爀㸀 
  <tr>਀    㰀琀搀 愀氀椀最渀㴀∀挀攀渀琀攀爀∀ 瘀愀氀椀最渀㴀∀琀漀瀀∀㸀 
      Motor Drive Assembly Being Test-Fit<br>਀      吀栀攀 漀琀栀攀爀 愀猀猀攀洀戀氀礀 椀猀 琀栀攀 搀爀椀瘀攀渀 猀栀愀昀琀㰀戀爀㸀昀漀爀 琀栀攀 琀漀瀀 漀昀 琀栀攀 琀甀戀攀⸀ 
    </td>਀    㰀琀搀 愀氀椀最渀㴀∀挀攀渀琀攀爀∀ 瘀愀氀椀最渀㴀∀琀漀瀀∀㸀 
      Installed Drive Sprocket਀    㰀⼀琀搀㸀 
  </tr>਀㰀⼀琀愀戀氀攀㸀 
</center></p>਀ 
<H2>It Works!!!</H2>਀㰀瀀㸀 
Using a Parallax BS2 microcontroller (PIC chip), I verified that the motor drive assembly works.  The controller uses an ਀㰀愀 栀爀攀昀㴀∀栀琀琀瀀㨀⼀⼀昀漀挀甀猀⸀琀椀⸀挀漀洀⼀氀椀琀⼀搀猀⼀猀礀洀氀椀渀欀⼀猀渀㜀㔀㐀㐀㄀　⸀瀀搀昀∀ 琀愀爀最攀琀㴀∀渀攀眀∀㸀匀一㜀㔀㐀㐀㄀　 䠀ⴀ戀爀椀搀最攀 挀栀椀瀀㰀⼀愀㸀 琀漀 猀攀氀攀挀琀 琀栀攀 搀椀爀攀挀琀椀漀渀  
and turn the motor on or off.  This chip allows the motor to be powered from the 24 volt supply while interfacing to the ਀攀氀攀挀琀爀漀渀椀挀猀 愀琀 琀栀攀 渀漀爀洀愀氀 㔀 瘀漀氀琀 吀吀䰀 氀攀瘀攀氀⸀  䤀 瀀甀琀 琀漀最攀琀栀攀爀 愀 瀀爀漀最爀愀洀 琀栀愀琀 爀攀愀搀猀 琀栀攀 瀀甀氀猀攀 眀椀搀琀栀 洀漀搀甀氀愀琀攀搀 猀椀最渀愀氀 昀爀漀洀  
the position sensor and commands the motor to go to any position I want.  I'm still experimenting with parameters, but ਀挀甀爀爀攀渀琀氀礀 椀琀 爀甀渀猀 昀甀氀氀 猀瀀攀攀搀 琀漀 眀椀琀栀椀渀 ㈀ 搀攀最爀攀猀猀 漀昀 琀栀攀 挀漀洀洀愀渀搀攀搀 瀀漀猀椀琀椀漀渀Ⰰ 愀氀氀漀眀猀 琀栀攀 洀漀琀漀爀 琀漀 猀攀琀琀氀攀Ⰰ 琀栀攀渀 戀甀洀瀀猀 椀琀  
into the correct position with one or two 8 millisecond pulses spaced 20 milliseconds apart.  Woo hoo!਀㰀⼀瀀㸀 
਀㰀瀀㸀㰀挀攀渀琀攀爀㸀 
<table cellpadding=5 cellspacing=5>਀  㰀琀爀㸀 
    <td>਀      㰀愀 栀爀攀昀㴀∀倀爀漀琀漀琀礀瀀攀䈀攀渀挀栀䄀渀渀漀琀愀琀攀搀⸀樀瀀最∀㸀㰀椀洀最 猀爀挀㴀∀倀爀漀琀漀琀礀瀀攀䈀攀渀挀栀䄀渀渀漀琀愀琀攀搀ⴀ䰀刀⸀樀瀀最∀ 愀氀椀最渀㴀∀爀椀最栀琀∀ 愀氀琀㴀∀吀攀猀琀 䈀攀渀挀栀∀㸀㰀⼀愀㸀 
    </td>਀    㰀琀搀㸀 
      <a href="MotorDriveClose.jpg"><img src="MotorDriveClose-LR.jpg" align="right" alt="Motor Drive Close-Up"></a>਀    㰀⼀琀搀㸀 
  </tr>਀  㰀琀爀㸀 
    <td align="center" valign="top">਀      吀栀攀 吀攀猀琀 匀攀琀甀瀀 
    </td>਀    㰀琀搀 愀氀椀最渀㴀∀挀攀渀琀攀爀∀ 瘀愀氀椀最渀㴀∀琀漀瀀∀㸀 
      Motor Drive In Action<br>਀      䌀氀椀挀欀 昀漀爀 愀 瘀椀搀攀漀㨀㰀戀爀㸀 
      <a href="CommandedSeek.wmv">high def</a> (10.7 MB) or <a href="CommandedSeekMR.wmv">regular</a> (3.4 MB)਀    㰀⼀琀搀㸀 
  </tr>਀㰀⼀琀愀戀氀攀㸀 
</center></p>਀ 
<p>਀䤀渀 琀栀攀 瘀椀搀攀漀 愀戀漀瘀攀Ⰰ 琀栀攀 挀漀渀琀爀漀氀氀攀爀 挀漀洀洀愀渀搀猀 琀栀攀 洀漀琀漀爀 琀漀 猀攀攀欀 栀漀洀攀 瀀漀猀椀琀椀漀渀 ⠀　 搀攀最爀攀攀猀⤀Ⰰ 琀栀攀渀 最漀 琀漀 㤀　뀀Ⰰ ㌀　뀀Ⰰ 㐀㔀뀀 愀渀搀  
back to 0°.  All of this is autonomous with fine adjustments automatically made based on the sensor feedback.਀㰀⼀瀀㸀 
਀㰀䠀㈀㸀吀漀瀀 匀瀀椀渀搀氀攀 䄀猀猀攀洀戀氀礀㰀⼀䠀㈀㸀 
<p>਀吀栀攀 琀漀瀀 猀瀀椀渀搀氀攀 愀猀猀攀洀戀氀礀 眀椀氀氀 昀椀琀 椀渀琀漀 愀 瀀愀椀爀 漀昀 瀀爀攀挀椀猀攀氀礀 洀愀琀挀栀攀搀 猀焀甀愀爀攀 栀漀氀攀猀 漀渀 漀瀀瀀漀猀椀琀攀 猀椀搀攀猀 漀昀 琀栀攀 ㌀∀ 砀 ㈀∀ 瘀攀爀琀椀挀愀氀  
support tube.  Unlike the motor assembly which installs inboard at the bottom of the tube, this unit installs from the ਀漀甀琀戀漀愀爀搀 猀椀搀攀 漀昀 琀栀攀 琀漀瀀⸀  吀栀攀 猀瀀椀渀搀氀攀 栀愀猀 挀漀洀瀀漀猀椀琀攀 昀氀愀渀最攀 戀攀愀爀椀渀最猀Ⰰ 愀 猀琀愀椀渀氀攀猀猀 猀琀攀攀氀 挀漀氀氀愀爀 愀渀搀 愀 猀瀀愀挀攀爀 琀栀愀琀 攀渀猀甀爀攀  
the driven sprocket lines up with the drive sprocket below.  The shaft that extends past the inner plate will lock into ਀琀栀攀 爀漀琀愀琀椀渀最 愀渀琀攀渀渀愀 瀀氀愀琀昀漀爀洀⸀ 
</p>਀ 
<p><center>਀㰀琀愀戀氀攀 挀攀氀氀瀀愀搀搀椀渀最㴀㔀 挀攀氀氀猀瀀愀挀椀渀最㴀㔀㸀 
  <tr>਀    㰀琀搀㸀 
      <a href="UpperSpindle1.jpg"><img src="UpperSpindle1-LR.jpg" align="right" alt="Upper Spindles, Side View"></a>਀    㰀⼀琀搀㸀 
    <td>਀      㰀愀 栀爀攀昀㴀∀唀瀀瀀攀爀匀瀀椀渀搀氀攀㈀⸀樀瀀最∀㸀㰀椀洀最 猀爀挀㴀∀唀瀀瀀攀爀匀瀀椀渀搀氀攀㈀ⴀ䰀刀⸀樀瀀最∀ 愀氀椀最渀㴀∀爀椀最栀琀∀ 愀氀琀㴀∀唀瀀瀀攀爀 匀瀀椀渀搀氀攀猀Ⰰ 䔀渀搀 嘀椀攀眀∀㸀㰀⼀愀㸀 
    </td>਀  㰀⼀琀爀㸀 
  <tr>਀    㰀琀搀 愀氀椀最渀㴀∀挀攀渀琀攀爀∀ 瘀愀氀椀最渀㴀∀琀漀瀀∀㸀 
      Upper Spindle, Side View਀    㰀⼀琀搀㸀 
    <td align="center" valign="top">਀      唀瀀瀀攀爀 匀瀀椀渀搀氀攀Ⰰ 䔀渀搀 嘀椀攀眀 
    </td>਀  㰀⼀琀爀㸀 
</table>਀㰀⼀挀攀渀琀攀爀㸀㰀⼀瀀㸀 
਀㰀䠀㈀㸀䌀漀渀琀爀漀氀氀攀爀 匀漀昀琀眀愀爀攀 䐀攀瘀攀氀漀瀀洀攀渀琀㰀⼀䠀㈀㸀 
<p>਀㰀甀㸀㄀⼀㈀㤀⼀㈀　　㤀 唀瀀搀愀琀攀㰀⼀甀㸀㨀  䄀昀琀攀爀 猀攀攀椀渀最 猀漀洀攀 猀琀爀愀渀最攀 戀攀栀愀瘀椀漀爀 椀渀 琀栀攀 瀀漀猀椀琀椀漀渀椀渀最 挀漀洀洀愀渀搀Ⰰ 䤀 搀椀搀 猀漀洀攀 椀渀瘀攀猀琀椀最愀琀椀漀渀  
and realized that the Parallax BS2 microcontroller's 8-bit integer doesn't have enough precision to calculate ਀琀栀攀 洀漀琀漀爀✀猀 瀀漀猀椀琀椀漀渀⸀  䈀攀琀眀攀攀渀 ㄀㠀㈀뀀 愀渀搀 ㌀㘀　뀀 椀琀 猀甀昀昀攀爀猀 愀 洀愀琀栀 漀瘀攀爀昀氀漀眀 愀渀搀 戀攀栀愀瘀攀猀 甀渀瀀爀攀搀椀挀琀愀戀氀礀⸀  䤀 栀愀瘀攀 愀  
<a href="http://www.micromegacorp.com/umfpu-v3.html" target="new">Micromega math coprocessor</a> chip I could hook up, ਀戀甀琀 琀栀愀琀✀猀 漀瘀攀爀欀椀氀氀 愀渀搀 搀漀攀猀渀✀琀 猀漀氀瘀攀 琀栀攀 渀攀砀琀 瀀爀漀戀氀攀洀㨀  琀栀攀 挀栀椀瀀✀猀 洀攀愀猀甀爀攀洀攀渀琀 漀昀 琀栀攀 瀀甀氀猀攀 眀椀搀琀栀 昀爀漀洀 琀栀攀 猀攀渀猀漀爀 氀愀挀欀猀  
adequate timing resolution because of the hideous amount of overhead in the built-in BASIC interpreter.  Even with the ਀洀愀琀栀 挀漀瀀爀漀挀攀猀猀漀爀Ⰰ 琀栀攀爀攀✀猀 愀 ㄀⸀㐀㔀뀀 洀攀愀猀甀爀攀洀攀渀琀 攀爀爀漀爀 瀀漀琀攀渀琀椀愀氀⸀  匀漀 䤀 琀栀椀渀欀 䤀✀氀氀 猀眀椀琀挀栀 琀漀 琀栀攀  
<a href="http://arduino.cc/" target="new">Arduino</a> platform.  The Arduino is based on the ਀㰀愀 栀爀攀昀㴀∀栀琀琀瀀㨀⼀⼀眀眀眀⸀愀琀洀攀氀⸀挀漀洀⼀搀礀渀⼀瀀爀漀搀甀挀琀猀⼀瀀爀漀搀甀挀琀开挀愀爀搀⸀愀猀瀀㼀瀀愀爀琀开椀搀㴀㌀㌀　㌀∀ 琀愀爀最攀琀㴀∀渀攀眀∀㸀䄀琀洀攀氀 䄀吀洀攀最愀㄀㘀㠀㰀⼀愀㸀 洀椀挀爀漀挀漀渀琀爀漀氀氀攀爀  
and has floating point math built in and timing resolution to 10 microseconds (thousands of times better than what I need).  ਀匀漀 椀琀✀氀氀 戀攀 愀 昀攀眀 搀愀礀猀 戀攀昀漀爀攀 䴀爀⸀ 倀漀猀琀洀愀渀 挀愀渀 戀爀椀渀最 洀攀 愀 瀀爀攀猀攀渀琀 昀爀漀洀 㰀愀 栀爀攀昀㴀∀栀琀琀瀀㨀⼀⼀眀眀眀⸀猀瀀愀爀欀昀甀渀⸀挀漀洀∀ 琀愀爀最攀琀㴀∀渀攀眀∀㸀 
Sparkfun</a>.਀㰀⼀瀀㸀 
਀㰀瀀㸀 
On the bright side, I improved the fine positioning subroutine tonight to bump the motor with 25% duty cycle pulses 15 ਀琀椀洀攀猀 瀀攀爀 搀攀最爀攀攀 漀昀 搀攀猀椀爀攀搀 爀攀瘀漀氀甀琀椀漀渀⸀  吀栀椀猀 爀攀猀甀氀琀猀 椀渀 洀甀挀栀 洀漀爀攀 瀀爀攀挀椀猀攀 瀀漀猀椀琀椀漀渀椀渀最⸀  伀昀 挀漀甀爀猀攀Ⰰ 洀愀渀礀 漀昀 洀礀 瀀愀爀愀洀攀琀攀爀猀  
will change once the whole system is built and the motor has to perform under load.  So a challenge ahead of me now is to ਀眀爀椀琀攀 猀漀昀琀眀愀爀攀 琀栀愀琀 氀攀愀爀渀猀 昀爀漀洀 攀砀瀀攀爀椀攀渀挀攀 愀渀搀 愀搀樀甀猀琀猀 琀栀攀 瀀愀爀愀洀攀琀攀爀猀 愀甀琀漀洀愀琀椀挀愀氀氀礀⸀  䐀漀椀渀最 椀琀 戀礀 栀愀渀搀 眀椀琀栀 琀栀攀 栀攀氀瀀 漀昀  
Excel is teaching me a lot about how to develop that software.਀㰀⼀瀀㸀 
਀㰀瀀㸀㰀愀 栀爀攀昀㴀∀䄀爀搀甀椀渀漀䈀漀愀爀搀⸀樀瀀最∀㸀㰀椀洀最 猀爀挀㴀∀䄀爀搀甀椀渀漀䈀漀愀爀搀ⴀ䰀刀⸀樀瀀最∀ 愀氀椀最渀㴀∀爀椀最栀琀∀ 愀氀琀㴀∀吀栀攀 一攀眀 䴀椀挀爀漀挀漀渀琀爀漀氀氀攀爀∀㸀㰀⼀愀㸀 
<u>2/5/2009 Update</u>:  The Arduino development board is here.  Woo hoo!  Now I need another day to set up the circuits ਀愀渀搀 爀攀眀爀椀琀攀 琀栀攀 猀漀昀琀眀愀爀攀⸀  吀栀愀琀 椀渀挀氀甀搀攀猀 氀攀愀爀渀椀渀最 琀漀 瀀爀漀最爀愀洀 椀渀 琀栀攀 倀爀漀挀攀猀猀椀渀最⼀圀椀爀椀渀最 氀愀渀最甀愀最攀⸀ 
</p>਀ 
<p>਀㰀甀㸀㈀⼀㜀⼀㈀　　㤀 唀瀀搀愀琀攀㰀⼀甀㸀㨀  圀栀椀氀攀 猀攀琀琀椀渀最 甀瀀 琀栀攀 渀攀眀 洀椀挀爀漀挀漀渀琀爀漀氀氀攀爀Ⰰ 䤀 洀愀渀愀最攀搀 琀漀 戀氀漀眀 漀甀琀 琀栀攀 洀漀琀漀爀 搀爀椀瘀攀爀 挀栀椀瀀⸀   
Fortunately, it's separate from the controller board and I had a spare chip.  Taking this as a lesson, I installed ਀　⸀㄀ 밀䘃 洀攀琀愀氀椀稀攀搀 瀀漀氀礀攀猀琀攀爀 猀甀瀀瀀爀攀猀猀椀漀渀 挀愀瀀愀挀椀琀漀爀猀 漀渀 琀栀攀 洀漀琀漀爀⸀  䠀漀瀀攀昀甀氀氀礀 琀栀椀猀Ⰰ 挀漀洀戀椀渀攀搀 眀椀琀栀 琀眀椀猀琀椀渀最 琀栀攀 洀漀琀漀爀 氀攀愀搀猀  
and adding caps to the driver end of the leads will prevent another burnout.਀㰀⼀瀀㸀 
਀㰀瀀㸀 
On the bright side, transitioning to the Arduino platform is much easier than I expected.  After just an hour or two ਀漀昀 攀砀瀀攀爀椀洀攀渀琀愀琀椀漀渀Ⰰ 䤀 栀愀瘀攀 椀琀 眀漀爀欀椀渀最 眀椀琀栀 琀栀攀 䰀䌀䐀 搀椀猀瀀氀愀礀 愀渀搀 爀攀愀搀椀渀最 琀栀攀 瀀漀猀椀琀椀漀渀 猀攀渀猀漀爀 眀椀琀栀 昀甀氀氀 爀攀猀漀氀甀琀椀漀渀⸀ 
</p>਀ 
<H2>Drive Pillar Build</H2>਀㰀瀀㸀 
<u>2/14/2009 Update</u>:  Getting closer.  Today, I started building the left pillar that contains the drivetrain.  That ਀戀攀最愀渀 眀椀琀栀 愀 ㈀㄀∀ 氀漀渀最 猀攀挀琀椀漀渀 漀昀 ㈀∀ 砀 ㌀∀ 愀氀甀洀椀渀甀洀 琀甀戀椀渀最⸀  䤀 洀愀挀栀椀渀攀搀 琀栀攀 洀漀甀渀琀椀渀最 瀀漀爀琀 昀漀爀 琀栀攀 搀爀椀瘀攀 洀漀琀漀爀 愀渀搀 最漀琀 琀栀愀琀  
unit mated up nicely.  Unfortunately, as I was reviewing the blueprints before machining it for the upper spindle assembly, ਀䤀 爀攀愀氀椀稀攀搀 䤀 栀愀搀 漀瘀攀爀氀漀漀欀攀搀 猀漀洀攀 洀攀愀猀甀爀攀洀攀渀琀猀 昀漀爀 栀漀眀 琀栀攀 瀀愀爀琀猀 昀椀琀 甀瀀 琀漀瀀⸀  䤀昀 䤀 眀攀爀攀 琀漀 挀漀渀琀椀渀甀攀 愀猀 瀀氀愀渀渀攀搀Ⰰ 琀栀攀 瀀椀氀氀愀爀猀  
would extend 1/8" above the antenna deck.  Aesthetically, I don't want that, so I went back to the drawing board.  Now, ਀椀渀猀琀攀愀搀 漀昀 琀栀攀 甀瀀瀀攀爀 猀瀀椀渀搀氀攀 戀攀椀渀最 愀渀 愀猀猀攀洀戀氀礀 琀栀愀琀 椀猀 椀渀猀琀愀氀氀攀搀 ☀ 爀攀洀漀瘀攀搀 愀猀 愀 甀渀椀琀Ⰰ 䤀 搀攀挀椀搀攀搀 琀漀 樀甀猀琀 戀甀椀氀搀 戀攀愀爀椀渀最  
mounts into the pillar tube.  It will be a little less convenient to assemble & maintain, but it will look a lot better.਀㰀⼀瀀㸀 
਀㰀瀀㸀 
The aluminum is pretty dinged up.  The supplier must've sent second hand scraps.  It'll take some work, but after all the ਀戀甀椀氀搀椀渀最 ☀ 瀀爀漀琀漀琀礀瀀椀渀最Ⰰ 䤀✀氀氀 最攀琀 攀瘀攀爀礀琀栀椀渀最 挀氀攀愀渀攀搀 甀瀀 愀渀搀 椀琀 眀椀氀氀 氀漀漀欀 瀀爀攀琀琀礀 猀瀀椀昀昀礀⸀  吀栀攀 最漀漀搀 渀攀眀猀 椀猀 琀栀愀琀 琀栀攀 洀攀琀愀氀  
distributor gave me a partial refund and a 30% discount on my next order.਀㰀⼀瀀㸀 
਀㰀瀀㸀 
A couple of days ago, I had some more success with the motor control software and the driver circuits, so that section ਀椀猀 挀漀洀椀渀最 愀氀漀渀最 瘀攀爀礀 渀椀挀攀氀礀⸀  吀栀攀 洀漀琀漀爀 猀甀瀀瀀爀攀猀猀椀漀渀 挀愀瀀愀挀椀琀漀爀猀 猀攀攀洀 琀漀 戀攀 搀漀椀渀最 琀栀攀椀爀 樀漀戀 漀昀 瀀爀漀琀攀挀琀椀渀最 琀栀攀 挀漀渀琀爀漀氀氀攀爀  
and the microcontroller is now showing position information on the LCD display.  I've also gotten it to read the ambient ਀琀攀洀瀀攀爀愀琀甀爀攀 昀爀漀洀 愀 㰀愀 栀爀攀昀㴀∀栀琀琀瀀㨀⼀⼀眀眀眀⸀洀愀砀椀洀ⴀ椀挀⸀挀漀洀⼀瀀爀漀搀甀挀琀猀⼀㄀ⴀ眀椀爀攀⼀∀ 琀愀爀最攀琀㴀∀渀攀眀∀㸀䐀愀氀氀愀猀⼀䴀愀砀椀洀 ㄀ⴀ圀椀爀攀 琀攀洀瀀攀爀愀琀甀爀攀  
sensor</a>, which is something the old Parallax controller was not capable of doing.਀㰀⼀瀀㸀 
਀㰀瀀㸀㰀挀攀渀琀攀爀㸀 
<table cellpadding=5 cellspacing=5>਀  㰀琀爀㸀 
    <td>਀      㰀愀 栀爀攀昀㴀∀䐀爀椀瘀攀倀椀氀氀愀爀䴀漀琀漀爀倀漀爀琀⸀樀瀀最∀㸀㰀椀洀最 猀爀挀㴀∀䐀爀椀瘀攀倀椀氀氀愀爀䴀漀琀漀爀倀漀爀琀ⴀ䰀刀⸀樀瀀最∀ 愀氀椀最渀㴀∀爀椀最栀琀∀ 愀氀琀㴀∀䐀爀椀瘀攀 倀椀氀氀愀爀 䴀漀琀漀爀 倀漀爀琀∀㸀㰀⼀愀㸀 
    </td>਀    㰀琀搀㸀 
      <a href="DrivePillar1.jpg"><img src="DrivePillar1-LR.jpg" align="right" alt="Drive Pillar On The Bench"></a>਀    㰀⼀琀搀㸀 
  </tr>਀  㰀琀爀㸀 
    <td align="center" valign="top">਀      䐀爀椀瘀攀 倀椀氀氀愀爀 䴀漀琀漀爀 䴀漀甀渀琀椀渀最 倀漀爀琀 
    </td>਀    㰀琀搀 愀氀椀最渀㴀∀挀攀渀琀攀爀∀ 瘀愀氀椀最渀㴀∀琀漀瀀∀㸀 
      Drive Pillar With The Motor Installed਀    㰀⼀琀搀㸀 
  </tr>਀ 
  <tr>਀    㰀琀搀㸀 
      <a href="DrivePillar1Inside.jpg"><img src="DrivePillar1Inside-LR.jpg" align="right" alt="Inside The Drive Pillar"></a>਀    㰀⼀琀搀㸀 
    <td>਀      㰀愀 栀爀攀昀㴀∀䰀䌀䐀㄀⸀樀瀀最∀㸀㰀椀洀最 猀爀挀㴀∀䰀䌀䐀㄀ⴀ䰀刀⸀樀瀀最∀ 愀氀椀最渀㴀∀爀椀最栀琀∀ 愀氀琀㴀∀䰀䌀䐀 䐀椀猀瀀氀愀礀∀㸀㰀⼀愀㸀 
    </td>਀  㰀⼀琀爀㸀 
  <tr>਀    㰀琀搀 愀氀椀最渀㴀∀挀攀渀琀攀爀∀ 瘀愀氀椀最渀㴀∀琀漀瀀∀㸀 
      Looking Into The Bottom Of The Drive Pillar਀    㰀⼀琀搀㸀 
    <td align="center" valign="top">਀      吀栀攀 䰀䌀䐀 䐀椀猀瀀氀愀礀 圀漀爀欀猀 一漀眀 
    </td>਀  㰀⼀琀爀㸀 
</table>਀㰀⼀挀攀渀琀攀爀㸀㰀⼀瀀㸀 
਀㰀䠀㈀㸀䰀漀琀猀 伀昀 圀漀爀欀 吀漀 䜀漀㰀⼀䠀㈀㸀 
<p>਀䤀✀洀 挀漀渀琀椀渀甀椀渀最 琀漀 眀漀爀欀 漀甀琀 搀攀猀椀最渀 挀栀愀氀氀攀渀最攀猀 愀渀搀 栀愀瘀攀 搀攀挀椀搀攀搀 栀漀眀 琀漀 挀漀洀瀀氀攀琀攀 琀栀攀 洀漀琀漀爀✀猀 眀攀愀琀栀攀爀 栀漀甀猀椀渀最⸀  䤀✀洀 愀氀猀漀  
considering a number of ideas for the user interface.  Some possibilities include a full color OLED display, maybe ਀攀瘀攀渀 眀椀琀栀 愀 琀漀甀挀栀 猀挀爀攀攀渀⸀  伀爀 瀀攀爀栀愀瀀猀 猀漀洀攀 挀愀瀀愀挀椀琀椀瘀攀 琀漀甀挀栀 猀攀渀猀漀爀猀 戀攀栀椀渀搀 愀 最氀愀猀猀 昀愀挀攀瀀氀愀琀攀 眀椀琀栀 戀愀挀欀氀椀最栀琀椀渀最 琀漀 洀愀欀攀  
a nice clean looking display without any bumps or visible switches.  That might be kind of cool -- it would be a plain ਀戀氀愀挀欀 瀀椀攀挀攀 漀昀 最氀愀猀猀 眀栀攀渀 椀琀✀猀 琀甀爀渀攀搀 漀昀昀Ⰰ 戀甀琀 氀椀最栀琀 甀瀀 椀渀 挀漀氀漀爀 眀栀攀渀 椀琀✀猀 漀渀⸀  䤀 瀀爀漀琀漀琀礀瀀攀搀 猀漀洀攀琀栀椀渀最 氀椀欀攀 琀栀愀琀 昀漀爀 愀  
digital car dashboard years ago.  It'd be nice to bring that to fruition.਀㰀⼀瀀㸀 
਀㰀瀀㸀 
There are several other fabrication steps still pending.  The the horizontal antenna deck needs to be built.  Next, ਀䤀 琀栀椀渀欀 䤀✀洀 最漀椀渀最 琀漀 栀愀瘀攀 琀漀 戀甀椀氀搀 愀渀 攀氀攀挀琀爀椀挀 戀爀愀欀攀 猀漀 眀椀渀搀 氀漀愀搀猀 愀渀搀 愀渀琀攀渀渀愀 眀愀最最椀渀最 昀漀爀挀攀猀 眀漀渀✀琀 戀攀 琀爀愀渀猀洀椀琀琀攀搀  
into the gear box.  I have a pretty good idea how to do that and am sketching the details.  But the most intimidating ਀瀀愀爀琀 漀昀 愀氀氀 椀猀 琀栀攀 爀椀最栀琀 栀椀渀最攀⸀  吀栀攀 栀椀渀最攀 眀椀氀氀 愀氀氀漀眀 愀氀氀 琀栀攀 愀渀琀攀渀渀愀 挀愀戀氀攀猀 琀漀 瀀愀猀猀 琀栀爀漀甀最栀 椀琀 眀椀琀栀漀甀琀 攀砀瀀漀猀椀渀最  
them to the weather.  This is going to be a huge challenge for me to build well.਀㰀⼀瀀㸀 
਀㰀瀀㸀 
Stay tuned.਀㰀⼀瀀㸀 
਀㰀⼀戀漀搀礀㸀 
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