Re: Brownout Prevention?
 

558 ran a 6CIM 8wd drive with 6" WCP Diamond Tread for 2016:
WCP SS 12:50 Stage 1 // 20:54 Stage 2 // 12:12 Sprockets
Free Speed (JVN Design Calc): 12.40 ft/s
"Real Speed" (JVN Design Calc): 10.05 ft/s

No brownouts to speak of.

Re: Brownout Prevention?
 

18 FPS * .81 = 14.58 FPS

For a different "speed loss constant", just multiply the free speed by that constant. That is all the constant does in the JVN spreadsheet.

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For another data point - 228 ran 4 CIM / 2 mini on shifters this year, but we ran basically the entire season in low gear (6.5 FPS), so I don't imagine we were really about to trip any breakers.

Re: Brownout Prevention?
 

Some teams mentioned that they used code to reduce or effectively prevent brownouts from occurring. Could you please post an example of how you achieved this? I'm confused at how to implement it in a command-based project after getting the power usage from the PDP.

Re: Brownout Prevention?
 

Along with this thread, is there any documentation that defines how to get the numerical log data off of the driver station?

For simulations and for testing, I would like to have the numerical data taken indicating the current loads during a match.

We have been using crimp ferrules for a number of years, and we find that they make things more trouble free.

We also have been using Burndy lugs, or equivalent. I usually find them on Ebay for a good price. We also use the hydraulic crimper from Harbor Freight. We also use welding cable for the battery connections. Same amount of copper but very flexible.

The only time I have had to use solder on a crimp termination is when I don't have the correct termination tool. With the correct termination tool, you should never need to solder a crimp termination.

I haven't seen any discussions of using current-loops for motor drives. I haven't checked into the Talon capability ... can you set a current command over CAN?

Re: Brownout Prevention?
 

Using the PDP is for monitoring power usage. If you are pushing the motors too hard, back off on the acceleration. Or only allow stalls for (short) fixed periods of time (assuming you did not design your system to support indefinite stalls).

To help prevent brownouts from extreme acceleration implement a trapezoidal velocity profile. In simple terms control how fast you accelerate and decelerate. You can let the Talon SRX controllers do it for you or implement a simple algebraic equation in software. I always tell our programmers there is no purpose in asking a motor to do something it cannot do.