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Unread 08-06-2014, 16:42
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Re: The in-wheel swerve shifter!

Quote:
Originally Posted by asid61 View Post
Why can this not be shifted on the fly? Am I missing something here? Keep in mind that this can ony go forward. There is no reverse because I'm driving sun-ring, not sun-carrier in the planetary gearset. This means that the reverse of direction by the cim will only work against the inertia of the drive shaft, not the whole robot.
It can't shift on the fly because even if the output direction doesn't change, reversing the CIM will still slow the drive down to zero and then go back up to speed. The motor has to fight the inertia of the drive system when reversing input direction, and this takes time at which point you aren't moving.
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