Christmas Light Hanging Robot - In Progress

This robot sits on top of a roof's gutter and has 2 drive motors that push it forward. One drive motor rides on the edge of the gutter with a rubber wheel to allow it to grip and the other drive motor rests at an angle on the shingles and is textured to grip the rough surface. A linear actuator pushes custom-designed clips onto the gutter that are fed through a magazine which holds around 20 clips. The calibration sequence first levels the robot with a linear actuator attached to a pivot. It then calibrates the distance between the gutter rails with a limit switch and returns to the original position when done. As it drives the lights are fed through a funnel which has 3 servos to rotate the lights to the correct direction.