2016 Arm Calculations

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	A	B	C	D	E	F	G	H	I	J	K	L
1	Stall Torque (N-m)	Free Speed (RPM)	Free Speed (rad/s)	Stall Current (A)		Gear Ratio	Stall Torque	Holding Current	Holding Power	Lift Speed (rad/s)	Lift Time	Stall (lbf)
2	0.71	18700	1958.259421	134		105	74.55	127.5151549	1456.129678	0.9025592716	2.127131411	23.11882067
3						110	78.1	121.7190115	1326.762785	1.631571328	1.176695216	24.2197169
4						115	81.65	116.4268806	1213.900166	2.233142546	0.8597132235	25.32061312
5	Shooter Mass (kg)	Shooter Length (m)	Shooter Torque (N m)	Lift Angle (rad)		120	85.2	111.5757606	1114.849285	2.730875506	0.7030207614	26.42150934
6	10	0.7239	70.9422	1.919862177		125	88.75	107.1127301	1027.445101	3.143417881	0.6107562692	27.52240556
7						130	92.3	102.9930098	949.9307514	3.485633224	0.5507929417	28.62330179
8	4 volt hold current					135	95.85	99.17845383	880.8685706	3.769464943	0.509319547	29.72419801
9	44.66666667					140	99.4	95.6363662	819.0729438	4.004581413	0.4794164431	30.82509423
10						145	102.95	92.33856047	763.559082	4.198862916	0.4572338311	31.92599045
11						150	106.5	89.26060845	713.5035422	4.358772885	0.4404593284	33.02688668
12						155	110.05	86.38123398	668.213515	4.48964358	0.4276201759	34.1277829
13						160	113.6	83.68182042	627.1027226	4.595897817	0.4177338691	35.22867912
14						165	117.15	81.14600768	589.6723489	4.68122245	0.4101198346	36.32957534
15						170	120.7	78.7593604	555.4958373	4.748705132	0.4042917224	37.43047157
16						175	124.25	76.50909296	524.206684	4.800942871	0.3998927354	38.53136779
17	Motor					180	127.8	74.38384038	495.488571	4.840128782	0.396655185	39.63226401
18	12					185	131.35	72.37346631	469.0673396	4.86812183	0.3943743078	40.73316023
19	60	14				190	134.9	70.46890141	444.7044238	4.886503234	0.3928908026	41.83405646
20		60	18			195	138.45	68.6620065	422.1914451	4.896622323	0.3920788761	42.93495268
21			72	16		200	142	66.94545634	401.3457425	4.899634023	0.3918378736	44.0358489
22				58		205	145.55	65.31264033	382.0066555	4.896529638	0.3920862977	45.13674512
23					310.7142857	210	149.1	63.75757746	364.0324195	4.888162248	0.3927574577	46.23764135
24						215	152.65	62.27484311	347.2975597	4.875267761	0.3937962531	47.33853757
25						220	156.2	60.85950576	331.6906963	4.858482425	0.3951567608	48.43943379
26						225	159.75	59.5070723	317.1126854	4.838357461	0.3968004003	49.54033002
27						230	163.3	58.21344029	303.4750416	4.815371334	0.398694523	50.64122624
28						235	166.85	56.97485646	290.6985912	4.789940075	0.4008113143	51.74212246
29						240	170.4	55.78788028	278.7123212	4.762426003	0.4031269307	52.84301868
30			1.359375			245	173.95	54.64935211	267.4523898	4.733145104	0.4056208155	53.94391491
31						250	177.5	53.55636507	256.8612752	4.702373312	0.4082751517	55.04481113
32						255	181.05	52.50624027	246.8870388	4.670351851	0.4110744198	56.14570735
33						260	184.6	51.49650488	237.4826879	4.637291807	0.4140050393	57.24660357
34						265	188.15	50.52487271	228.6056205	4.603378046	0.4170550752	58.3474998
35						270	191.7	49.58922692	220.2171426	4.568772571	0.4202139957	59.44839602
36						275	195.25	48.68760461	212.2820456	4.533617421	0.4234724721	60.54929224
37						280	198.8	47.8181831	204.768236	4.498037176	0.426822212	61.65018846
38						285	202.35	46.97926761	197.6464106	4.462141111	0.4302558188	62.75108469
39						290	205.9	46.16928023	190.8897705	4.426025075	0.4337666743	63.85198091
40						295	209.45	45.38675006	184.4737684	4.389773122	0.4373488388	64.95287713
41						300	213	44.63030423	178.3758855	4.353458922	0.4409969662	66.05377335
42						305	216.55	43.89865989	172.5754335	4.317147005	0.4447062319	67.15466958
43						310	220.1	43.19061699	167.0533788	4.280893832	0.4484722707	68.2555658
44						315	223.65	42.50505164	161.7921864	4.244748746	0.452291123	69.35646202
45						320	227.2	41.84091021	156.7756807	4.208754799	0.4561591893	70.45735824
46						325	230.75	41.1972039	151.9889202	4.172949477	0.4600731899	71.55825447
47						330	234.3	40.57300384	147.4180872	4.137365341	0.46403013	72.65915069
48						335	237.85	39.96743662	143.0503872	4.102030588	0.4680272699	73.76004691
49						340	241.4	39.3796802	138.8739593	4.066969549	0.4720620979	74.86094313
50						345	244.95	38.8089602	134.8777963	4.032203125	0.4761323073	75.96183936
51						350	248.5	38.25454648	131.051671	3.997749176	0.4802357759	77.06273558
52						355	252.05	37.71575005	127.3860718	3.963622862	0.4843705479	78.1636318
53						360	255.6	37.19192019	123.8721427	3.929836946	0.4885348179	79.26452802
54						365	259.15	36.68244183	120.5016303	3.896402067	0.4927269168	80.36542425
55						370	262.7	36.18673316	117.2668349	3.863326972	0.496945299	81.46632047
56						375	266.25	35.70424338	114.1605667	3.830618735	0.5011885312	82.56721669
57						380	269.8	35.2344507	111.1761059	3.798282941	0.5054552826	83.66811291
58						385	273.35	34.77686044	108.3071661	3.766323857	0.5097443156	84.76900914
59						390	276.9	34.33100325	105.5478613	3.734744582	0.5140544782	85.86990536
60						395	280.45	33.89643359	102.8926755	3.703547175	0.5183846962	86.97080158
61						400	284	33.47272817	100.3364356	3.672732782	0.5227339671	88.0716978
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