Changes

|<math>\tau_b = m_{b}*d_{{CoM}_b} = 219.56g</math>⋅<math>in</math><br /><math>\tau_b = 219.56</math>⋅<math>in*\frac{1kg}{1000g}*\frac{2.54cm}{1in}</math><br /><math>\tau_b = 0.558kg</math>⋅<math>cm</math>

|<math>\tau_b = m_{b}*d_{{CoM}_b} = 219.56g</math>⋅<math>in</math><br /><math>\tau_b = 219.56</math>⋅<math>in*\frac{1kg}{1000g}*\frac{2.54cm}{1in}</math><br /><math>\tau_b = 0.558kg</math>⋅<math>cm</math>

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<math>\tau_{total} = 0.127kg</math>⋅<math>cm + 0.558kg</math>⋅<math>cm = 0.785</math>kg</math>⋅<math>cm</math>

<math>\tau_{total} = 0.127kg</math>⋅<math>cm + 0.558kg</math>⋅<math>cm = 0.785kg</math>⋅<math>cm</math>

And since I have two of these barrels, I needed a servo motor with at least a kg⋅cm rating of <math>0.785 * 2 = 1.57kg</math>⋅<math>cm</math>. Since it's always better to err on the side of caution, I decided to just go overkill and get a 4.1kg⋅cm rated servo.

And since I have two of these barrels, I needed a servo motor with at least a kg⋅cm rating of <math>0.785 * 2 = 1.57kg</math>⋅<math>cm</math>. Since it's always better to err on the side of caution, I decided to just go overkill and get a 4.1kg⋅cm rated servo.