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Re: Drive Train Calcs - Not trusting my results
One of the big things missing from most of those drive train calculators is electrical resistance. I'm pretty sure most of them assume a constant voltage power supply with superconducting wires. In reality, your battery and your wires have non-zero resistance which limits the maximum current available to your motor to something less than stall current. Sometimes significantly if you're doing a bad enough job of wiring. See this thread for the glorious details and possibly a better drivetrain model:
paper: Battery Voltage in Robot Drivetrain Simulation and Modeling
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