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Unread 07-08-2015, 11:23
Andrew Schreiber Andrew Schreiber is offline
Joining the 900 Meme Team
FRC #0079
 
Join Date: Jan 2005
Rookie Year: 2000
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Re: RS-395 safe loading

Having never built a swerve I can only relay what information has been given to me by those who have. John Novak (16) remarked that they wished they could use the 395 without it using their allotment of BB motors (this was prior to 2015 motor rules) His reasoning was that they have had issues with starting off in a direction other than where their wheels are currently pointing due to current draw. (4x 550s and 4x Cims starting up at once is a fair bit of current draw) and by switching to smaller motors their current draw would be lower. Based on this being John, I assume he realizes the tradeoffs with that.

My theory on why 16 could get away with it is less based on mechanical construction and more based on software and driving style. A lot of swerves operate as swerves all the time (rapid direction changes) but 16's swerves are typically driven more like 254 drives their tank drives (long smooth arcs) This is, obviously, less rough on the steering motors than rapidly changing directions all the time. This theory is backed up by the behavior of 91 (16's rookie team) at Ozark Mountain Brawl in 2014. The drivers had minimal drive practice and tended to rely on frequent direction changes. Their motors were hotter and, in their last elims match, they managed to pop the main breaker on the bot.

Of course, John, JT, of Jeff would know more than I would.
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