Quote:
Originally Posted by dsirovica
On a related topic: what do people think are the issues with using different motors on the same gearbox (with same controllers). Eg. A CIM and a mini-CIM? My gut level tells me that is perfectly fine, but a soon-to-be Mech Engineer told me that there will be a "torque fight" and that we should adjust each motors' power via a lookup table that we should develop by actual measurements of each of the motors.
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There's no "torque fight" until you reach the free speed of the motor with the lower free speed (the CIM in this case). Above that speed, the CIM acts as a generator (causing negative torque). However, you'll likely not reach that speed in a typical FRC application (e.g. drivetrain).
You can't adjust the motor's power without knowing the motor's speed. But if you want to assume a given operating speed, you can adjust the motor commands to match power or current.