When we initially came up with the idea we planned to have a motor to drive the base rotation and a motor to drive the arm. However this did not fit the scope of the class so we reduced the system down to 1 motor. This provided a significant challenge as we would have to enable movement and control in what was effective 4 directions (forward and reverse in both the r/y direction and theta/x direction) but would only have 1 rotary input from a single DC motor. To answer this we went through a lengthy and extensive design process.
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