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Re: pic: Small CIM in wheel swerve
If you are discussing power input and swerve don't forget the steering motors. In a pin and hard action, they will draw considerable current in addition to the drive motors. Do not worry about tripping breakers. The Roborio will invoke brown out protection long before a breaker trips. For this year no team should have had problems with brown out and drive. If we go back to a 2014 game teams better look at where on the power curve they design and look at total robot power budgeting. We developed a CVT swerve module last summer. There was no need for it this year. We will be revisiting it again this summer. With a CVT the total gearing reduction increases as the load increases keeping the drive power input in a safer zone. Read the Roborio brown out doc and enforce power management in future robot design process. Of course if we have a 2014 like game next year why would you use a minicim swerve.
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