Position limits:

Position limit Max to front stop = 0.3 radians. This is limited by the paddle gusset to tank wall length

Position limit paddle to paddle = 0.3 radians. This is limited by the paddle to paddle gusset length

Velocity limit = 2.0 radians/second

Paddle torque limit:

Paddle torque constant (from motor through gear ratio) = 46Nm/A

Motor torque limit = 1.5A

Paddle max torque = 69Nm

Sector radius (from hinge)= 0.597m

paddle inertia = 0.4kgm^2