Quote:
Originally Posted by BBray_T1296
I certainly disagree with that. I find shifting to a low gear (<7fps) to be a very valuable asset, in more situations than just precise movement.
While our 5fps was definitely too slow to play the whole match in, there were numerous times (especially in the defense heavy game) that you just needed to knuckle down and bulldoze your way through a pileup. Our robot used 3" Colson wheels, had the bumpers at the lowest point, and had a center of gravity roughly 5" from the floor. We could push nearly everyone, and many tank robots saw themselves skidding sideways by us. We did not have a traction problem at that torque either, and our used wheels had little measurable diameter difference to new ones, to the naked eye.
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So then the other positive is pushing correct?
There are a lot of factors involved but just to be simple, the system doesn't need to be designed to 40 amps per motor to push someone. That's why I said the low gears are too low. They are over designed for the 150 second matches to push people around, and too slow to be useful in normal driving.
I would say you can comfortably design them around 60-65 amps per motor to push, based on what we saw our drivetrain do this past year. I would like to try 70-75 amps per motor this year and see what the breakers can take, should be fun.