Quote:
Originally Posted by m1506m
Does anyone have any advice (other than ditching a bunch of weight and cleaning out the gearboxes) for ensuring we're not tripping our breaker at worlds?
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Programming options:
1: easy: set a maximum current flow lower than 100%
2: more challenging: limit current to CIMs at a gearbox when it is not turning and you've been at high power for a bit. This requires distinguishing "starting at rest" from "been pushing for a while".
3: more challenging: like 2, but turn off other motors/compressor on robot when in pushing situations
4: more challenging: like 2, but implement this as a "current budget" where you estimate current flows and heat dissipation, with the latter decaying over time.
5: easy: like 1, exception implement a driver controlled "pushing mode" on your robot, that lowers maximum current levels
6: more challenging: like 2, but only when driver selects "pushing mode"
Next year's control system should open up some interesting options in this scenario.