Quote:
Originally Posted by JamesCH95
Good.
However, the principle of limiting power-train speed in code, typically done via limiting the maximum voltage from each motor controller, is very bad. This artificially cripples the drive train, which is likely the most important sub-system on your robot. You might consider using chain, belts, or another lower-profile means of getting the gear reduction you should have inside of the envelope you're limited to.
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I understand that it isn't a perfect idea, but what it does allow us to do is get 4 modules made and starting testing on 4 modules. If we want to change the top gear reduction to something that will give us a more reasonable top speed we can go back and change the belt reduction to #25 chain. We'd have to redo the actual gearbox plates but those are relatively cheap. 4 module testing will be the make it or break it for the swerve so I see continuing on and limiting motor speed in code to be the best option.