Quote:
Originally Posted by Ether
1) Are you controlling the speed on your shooter CIMs, or just hitting them with whatever voltage the battery has at the moment?
2) Did you do any tests to see what effect changes in battery voltage1 have on the frisbee flight path?
1due to level of charge of the battery and varying levels of current being supplied to other devices on the robot
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Ether, sorry for the slow response.
The speed is controlled in terms of percentage. The Canipede allows you to apply a scalar on push button control. In this case we ranged between .75-.9 which I believe is just sending ~75-90% of the batteries voltage, ramping as quickly as possible.
The battery voltage was not recorded at the time. We occasionally tested the batteries with a battery beak and rarely operated with a full charge. As the battery died there was an audible change in the wheels speed but we had no way to measure the difference at that time. We didn't, however, notice an extreme change in performance through our testing but our targeting was hardly optimized.
As a purely subjective observation, the biggest change with a dead battery was spin up time. The wheels seemed to take longer to achieve ~ max rpm and could require some extra time between shots fired. This seems to jive with the response of a dead battery as starting and acceleration current draw should be the highest, while maintenance of speed should be relatively low.