Quote:
Originally Posted by AdamHeard
We use it in the same way, and then also use it for thins like balancing on the bridge last year.
For how our drivers operate, I view low gear as insurance that lets you gear as fast as you desire for other objectives, but still have a drive mode where you won't get destroyed by defense (tripping breakers, etc...)
Because of this, we love a real slow low gear.
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Agreed. Maybe this is just a west coast perspective, but in my mind a slow gear gives you the ability to have a super fast top speed (15+ fps as some west coast teams like to have). A low gear is only used when you're in a pushing match, or positioning accurately such as in autonomous, which isn't all that often. I personally don't see much point at having a low gear being lower than traction limited, which is about 6fps for a 4 CIM drive.
Part of this may (and I'm speaking with a complete lack of emperical evidence here) be because of a slight efficiency advantage of WCDs over "east coast drives." Most non-WCDs I've seen have more places where power can be lost (gears, more chain reductions, 35 chain vs 25 chain, etc). West coast drives have as little as two reductions down to a wheel, and typically have either 25 chain or belts to transmit power to outside wheels. Non-WCDs on the other hand are usually based off AM shifters, which require at least three reductions for the power to release the wheels to reach the wheels. Perhaps this small added efficiency lets west coast accelerate slightly more quickly in high gear.
I know I just threw out a bunch of stuff which I really can't prove and don't 100% believe is true, stuff that I would usually not post. But, given the apparent difference between east coast and west coast perspectives here, I wanted to propose a theory that might explain some of the differences.
In terms of 6 CIM vs 4 CIM drives, I'd say 6 CIMs is nice but not really necessary. You'll accelerate better, be faster and more powerful, but there are real drawbacks. One is current draw, which detracts from other mechanisms and can trip the main breaker. The other, as Karthik pointed out, is that it takes away from your ability to have CIMs power other mechanisms.