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Unread 13-01-2012, 15:49
buildmaster5000 buildmaster5000 is offline
Trying to program the swerve drive
AKA: Alex
FRC #2421 (Rolling Thunder Robotics)
Team Role: Alumni
 
Join Date: May 2009
Rookie Year: 2009
Location: Northern Virginia
Posts: 207
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Re: Does Your Team Use 4 CIMs on Your Drive?

Quote:
Originally Posted by Brinks3302 View Post
If you use 4 CIMs, all with separate speed controllers, is it legal to split the PWM feeds so that the right side speed controllers are both receiving input from PWM 1 and the left from PWM 2 (or some variation on that)? Is the meaning of rule R61 to prevent this?
If you want to know if you can use a Y-connector like the one in the picture below, the answer is yes. It should be in the KOP according to the checklist. It is listed as "Cable, Servo, Y-splitter."
I would say that this is the best practice for controling multiple motors/speed controllers that need to be run at the same speed because of the minimal failure points.
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-Alex



2010 Washington DC Regional: Engineering Excellence Award