28-12-2013, 12:25
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no bag, vex only, final destination
AKA: Pinecone
 FRC #0228 (GUS Robotics); FRC #2170 (Titanium Tomahawks) Team Role: Mentor
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Join Date: Dec 2008
Rookie Year: 2006
Location: Glastonbury, CT
Posts: 7,737
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Re: Gearbox friction model
Doesn't your OutputSpeed equation not factor in efficiency at all?
OutputSpeed = (1 - %Torque) * FreeSpeed
OutputSpeed = (1 - InputTorque/StallTorque) * FreeSpeed
InputTorque is the variable you multiply by efficiency to get OutputTorque - i.e. torque before efficiency is factored in. At a system's free speed, the InputTorque would only be enough torque to overcome kinetic friction in the system (no external load).
It's very possible I'm misunderstanding.
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