[gpetilli]

We are using the 12.7:1 gearboxes mainly because we did not want to spend money on an off season experiment. We need to better understand the limitations of Killough drive.

Two things we are doing that modify the standard calculations.

1) We plan to use MiniCIMs which have a free speed of 6200RPM (16.7% faster than CIM). Given that we don't intend to get into pushing matches, closer match to Jaguar current capabilities and the reduced weight, this seems like a trade we thought we should try.

2) According to Ether's kinematic calculations, by toe-in the wheels we lose cos(30) in torque but gain 1/cos(30) in top speed. This is another 15%.

At face value 10fps * 1.16 * 1.15 = ~13fps. Our crude estimator spreadsheet predicts 12.5fps front/back and >18fps lateral (1/cos(60)). We are planning to instrument and measure the step response on Thursday (students tell me the code and electrical are finally ready). I will report what we achieved by end of week.

Assuming we hit >12fps, do you think that would be competitive? If we are able to control it, and the game warrants Holonomic we can always change the gears in the TBnano to a lower ratio in the production robot.