Quote:
Originally Posted by asid61
I feel like for most teams in most situations the minor time lag associated with shifting shouldn't affect them significantly.
I prefer having the encoders on the gearbox, as they're more protected that way. We occasionally (around once per year) lose encoders due to insufficient protection/some small mistake that destroys the already-vulnerable encoders.
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We put our encoders on the gearbox, down stream of the shifting mechanism. This gives us less backlash in our measurement and we don't have to worry about shifting. The accumulated hex backlash due to the clearances that Aren specs is quite large, and the dog engagement also adds to the problem. When you are trying to design a precision autonomous mode, every little thing counts. The best way to design an awesome control loop is to have awesome hardware to control.