Quote:
Originally Posted by GeeTwo
If the top motors are going "full speed" (which I read as free speed, or nearly so), they are generating no torque and thus producing no mechanical power. The bottom motors are going "nearly full speed", they are generating low torque, and are operating well down on the power curve. Where does this "high power" originate?
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In that situation there wouldn't be much as you mentioned. If we drive the system like that and we try to move, as we increase the load on the system the speeds of both motors will be loaded down and slowed down until it hits a point where it has sufficient torque to move. Or we can try to keep it in the higher power band but that would arbitrarily limit our top speed when that amount of torque isn't required. With a desired output speed, the faster we run the motors the faster total speed differential we can get making the top speed of the robot higher. But indeed there isn't much power available there but as in a regular control system when you apply a load the speed will be reduced to the point where torque is high enough for the task. In our case both motors will be slowed down so our torque will vary while our total speed output remains the same.
Or at least that's what we think, could be wrong. The whole point of building the prototype was/is to find out if we're just kind of wrong or completely wrong XD