A Note About Servos
We got some really fancy servos for this project: the Hitec 5990tg. Behold! Titanium gears, 400 oz/in torque, digital amplifier. That’s about 10x more torque than a standard hobby servo in the same case size.
BUT! They make a horrible high pitched squealing noise almost constantly. It made everyone in the room angry. Having one of those right next to your ear all day would be criminal.
Luckily, we had a backup plan: the 7955tg. Not quite as strong at 333 oz/in, but waaaay quieter and still has all that nice metal everywhere. All is well!