[Joe Johnson]

ChiefDelphi never disappoints.

Thanks to all for the great input.

As to John Novak's comments, you've definitely given me a lot to think about. When the Bomb Squad speaks about swerve, you'd have to be a fool not to listen.

I am curious about a window motor working better than a higher power motor. It's not obvious why you couldn't gear the higher power motor down to the point that it was pulling less power than the window motor (which is purposefully designed to be inefficient so that it will not backdrive and let your windows fall as you drive).

In any case, I will take your advice to keep an eye on overall current draws, especially when shooting mechanisms that are current sensitive are involved.

I have a question about the speeds you discuss. You say you have a 9:1 ratio and I think you guys are a 4" wheel shop these days (which roughly checks with your 12 fps top speed). You happy with that? Do you guys wish you had a bit more metal in the pedal when zipping back and forth across the field? Do tell.

As to Joe Ross, do the Jaguar's really have 1ms update periods when in PID mode? I don't need to read the sensor anywhere near that fast so that doesn't both me but I would like the faster loop time. (Yes, I know Jaguars have other baggage - but remember this is a Fall Practice Project -- I can afford to take risks now that I would be very hesitant to take come January).

Finally, a question for Ether, but of course, all are welcome to comment. Given a 4 wheel independent steer swerve, with the 12fps top speed our good friends from Mountain Home report, what is the minimum steering angle speed you'd recommend before the vehicle kinematics would be compromised?

Joe J.