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Unread 14-06-2012, 20:17
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FRC #1197 (Torbots)
Team Role: Engineer
 
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Re: CIM motor driver for "shooter" application

I've used a "Big CIM" with minimal gearing for a shooter before, but it's been a while. The Big CIM is essentially the same as a CIM in terms of power output, IIRC.

The mechanical setup, as I recall, was about a 1:1 (via belt) to about a 1.5:1 (via chain). I don't think it was any higher than a 2:1 gearing slowdown overall max.

If I remember the electronics setup, we ran that particular line off a 40A snap-action breaker through a Victor 884 speed controller, with zero problems. I don't know if there was any rampup in the programming, but I do know that we didn't load the projectile in until the wheel setup was going at close to full speed. (The Jaguar speed controller will also work.)

If your projectile is going to be just moving through the shooter, without stopping, I don't think you need to worry about any 130A current. Just have some form of loader that won't load unless the wheel is already spinning near the target speed. Depending on your application, that could be as simple as a hand or as complex as a linear feed made with powered belts, where the power turns on to load the shooter.

Remember, keep the CIM moving. If it stops completely, then you'll probably hit the stall current. If it's moving, and moving fast, it won't get anywhere near the stall--free current is 3A, max power is at 68A.
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Past teams:
2003-2007: FRC0330 BeachBots
2008: FRC1135 Shmoebotics
2012: FRC4046 Schroedinger's Dragons

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