--- On Mon, 3/25/13, jeremy youngs <[email protected]> wrote:

> or cable attached weight so as to have constant tension ,
> my thought is how to maintain spool diameter on the
> steppers? as cable
> winds up then the diameter increases unless a capstan of
> some sort is utilized,

Lots of ways to do that. Wrap a few turns in one layer around a drum then past 
that use a spring loaded roller or weight or zigzag arrangement of pulleys up 
and down.

Whatever it takes to avoid having to adjust for changing amount of pull per 
degree of rotation.

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