The bumper switches added a drag to the dome when the switch was pressed.
So I changed them to the Infared sensors I had from Vex.
As the dome turns the Infa's light is refected by the mirrors and acts like a on/off switch.
This gives me a No Contact switch and no drag on the motor.
It's still a mess, But I will clean it up after I get some more progress.
Once I replace the rod I bent for the Utility arm movement, I'll add more pics
and video. The rod was bent because I had it on a Remote switch instead of a
Remote joystick. When that thing was activated it flew out full power and bent the rod.
Which I'm glad this happened now, If a kid was infront of R2 and it opened.
The kid would probly need a doctor. LESSON LEARNED!!!