Quote:
Originally Posted by RoboChair
15 fps in high gear is slow, very very slow for a 6 CIM drivetrain considering you are likely to lose 10% or more mechanical efficiency, leaving you in the 13 fps range. Our 2014 bot was geared to a theoretical 22 fps and we measured our actual top speed at just over 18 fps(18% efficiency loss). We likely could have geared it a little slower and gotten our top speed a little faster, maybe 19 fps. So I know you can reasonably push the top gear 10%-25% higher, the only reason to keep it in the geared to 15 fps range would be if you need rapid bursts of acceleration to cover sub-20ft range movements on the field.
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While 15fps would be slow for California, in general robots out east tend to gear much lower.
Also, I'd expect a 22FPS theoretical 6CIM drive to have massive brownout issues on the RoboRIO without some sort of current management in the code.