Quote:
Originally Posted by ablahblah
I just thought of an interesting way we can spice up our drive system, but I'm not completely sure of how coasting works in Jaguars. Does the Jaguar allow the motor to rotate at a speed higher than the input voltage would cause at ALL times, or does the Jaguar still lock down rotational speed when power is applied? More specifically, if I'm giving a Jaguar an input of 0 (domain is -1.0 to 1.0), does the Jaguar allow the wheel to spin freely?
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Your first question isn't very clear, but the answer to the second is a resounding yes.
The distinction between coast and brake lies in the switching of the H-bridge when signal is neutral; there is no effect when power is being applied to the motor. When the speed controller is set to coast, there is no connection between the motor terminals, which means that the only force reducing the motor's momentum is friction. When the speed controller is set to brake, it shorts across the motor terminals, turning the motor into a generator that powers the motor against itself; that is, the power generated by a motor turning in one direction will make it turn in the other direction. The brake setting makes use of this power to "brake" the motor.
Quote:
Originally Posted by ablahblah
The reason why I'm concerned with this is because we're running an omnidrive this year. It works fine now without coasting, but I'm wondering if we have coasting on, can we run around the field without an adverse effect to our pushing resistance?
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Coasting just means you'll have less control when decelerating. Omniwheels inherently have a low CoF compared to most other drivetrains, so any pushing resistance you'll have is negligible.
Quote:
Originally Posted by ablahblah
On another note, is there a way to engage coasting on the fly? As in, there's a three-pin connector that controls it, so is there any way to hook up a connector that by default jumps one pin to ground, but when it receives voltage (through a relay I guess) it jumps the other pin? I have a manual switch like that for my computer to reset CMOS when I'm trying some overclocks, heh, just don't know if there's something out there that can actuate via the sidecar or maybe the cRIO breakouts.
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This
has been confirmed to be legal by the GDC:
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Q. On the victor and jaguar speed controls can we dynamically during game play change the brake/coast setting by use of a logic/mechanical switch controlled by the drivers?
A. There are no Rules prohibiting this.
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That being said, there are many ways you could do this. One is through the use of one of the KoP provided limit switches. You just need an SPDT switch of some sort, where the common is tied to the center pin, and the switch to the coast/brake pins.