[alecmuller]

p.s. I have not tried an inclined plane test for traction yet.

Edit: For a moment I thought I'd found the problem in my calculations, but it turns out I still have a calculated torque that's far higher than tests are showing.

The CORRECT formula for total robot traction should have been:

Traction = [# of wheels] x [CIM Torque] x [Gear Reduction Ratio] x [Gearing Efficiency] / [Wheel Radius]

For my setup, the numbers were 4 wheels, 4.84 in*lbs CIM torque (assuming 30A limit and linear torque vs. current), 23.18:1 gear ratio, 80% assumed efficiency, and 2" wheel radius. I made the mistake of forgetting to include the 4 wheels AND multiplying by the 2" radius instead of dividing by it (i.e. my mistakes canceled each other out).

4 x [4.84 in*lbs] x 23.18 x 0.80 / [2 in] = 179.6 lbs.

So I need to fix what might be causing torque loss in that one wheel, and I need to write power-ramping code.

Thank you all for the help!
Sincerely,
Alec