So Matt Hart passed off the arm to me (Matt Tannenbaum) this week for a final wiring. There were two main hurdles to cross; the wiring of two relays to act as polarity reversing relays and finding a way to safely trigger those relays using the arduino (+5v vs. +12v)
First things first was to make the arm look like an arm, a sleeve was added, as well as a few mechanical tweaks to make it work better.
Next came the actual wiring. Two 40amp, 12v relays were wired in a polarity switching configuration.
One this was connected and soldiered, two NPN transistors were used as switches to allow the arduino to switch a 7.5v regulated supply.
From here, it's just final assembly.
