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Unread 07-08-2015, 07:15
Gdeaver Gdeaver is offline
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FRC #1640
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Re: RS-395 safe loading

The JVN calculator may not be good for steering calculations on co-axial steering. The use of miter gears cause an additional load on the steering motor. If the top pulley turns clockwise, there is a counter clock wise torque on the wheel cage that the steering system must overcome. The more load put on the driven wheels, the greater this forces is. During hard accelerations and intense robot to robots interaction this force can be quite large. I have no idea how to set up an equation for it. Our team has never quantified it. We could have used the new current measuring capability of the PDM. We need to look at this current draw because if we have a more normal FRC game next year we will have to worry about total current draw and power management. In 2014 our current logs showed that there were a few matches the Roborio would have entered brown out.