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I'm not sure if it does a whole lot for current draw but we put a deadband in our drive joysticks. For the first bit of motion in the positive or negative Y axis directions, no signal would be sent to the PWMs. This was more to prevent strain on the drive componenets but it may have done something for current draw.
Other teams I think had a sort of "soft-power" system where power to the motors came on slowly rather than all at once. However, I am not a programmer so I don't know how that works.
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Teacher/Engineer/Machinist - Team 696 Circuit Breakers, 2011 - Present
Mentor/Engineer/Machinist, Team 968 RAWC, 2007-2010
Technical Mentor, Team 696 Circuit Breakers, 2005-2007
Student Mechanical Leader and Driver, Team 696 Circuit Breakers, 2002-2004
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