Quote:
Originally Posted by asid61
Quick question, how would you stall a 6 cim drivetrain in normal usage? The wheels would lift at some point, even driving into a wall, right?
Of course, we would still build in current limitations and preferably shift.
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Get into a pushing match with a robot, if the traction of your wheels exceeds the torque created by your robot then the motors will be in stall. (Assuming all wheels are on the ground)
Even with 2 or 4 wheels off the ground, it's possible for your wheel traction to still be greater than the torque of a 6CIM drivebase (However, unlikely)
Keep in mind that in a 6wd configuration, there are only 4 wheels in contact with the ground at any given time. It remains the same for 8wd, with only 4 wheels ever actively touching the ground (assuming center two wheels are dropped)