Thread: pic: GBX-114 swerve with PTO
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Unread 20-11-2014, 19:45
Arpan Arpan is offline
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FRC #3061 (Huskie Robotics)
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Location: Naperville
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Re: pic: GBX-114 swerve with PTO
Quote:
Originally Posted by asid61 View Post
This is a 4-cim, 4-minicim drive.
This year, we ran a free speed of around 17fps with 4 cims only and had no problems accelerating at all. 1678's 6-cim drive was geared for around 22fps. This is an even more powerful drive, so I bumped it up to 24fps. The math works out; for anything more than a couple feet it is easy to use high gear (with < 0.05s of lag behind low gear).
The sprocket is the output of the PTO. It is not mounted to the module, but shifts on the shifting shaft.
The current drop from the turning motors is a significant factor here, I think.

I would be very surprised if a swerve like this didn't blow the main breaker in a pushing match, even in low gear. IIRC FRC 2451 had current-related problems pushing an immovable object (read = our robot) last year with just 4 CIMS at a lower speed.
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