[Vikingtech2054]

Originally Posted by MysterE

Hey all -

We need some help. We recently had to replace the Ball Shifters on our competition robot with some single speed dual cims due to the fact that we couldn't get the shifters to work. I'm hoping that you might be able to help us get them working.

When we run them, we are getting a loud clicking sound and a lot of stuttering in the bot - especially when we try to turn. The same issue doesn't exist with the single speed. We initially thought it was the scrubbing due to the fact that we only had four wheels, but we no longer do.

I know this isn't a lot of description, but I'm not sure what other info to provide. If anyone could help walk me through this I'd be appreciative.

Best -
Daniel

After reading through all the blog post and looking at the calculations Dr. Joe did it is likely you are tripping your snap action breakers or your roborio is browning out.

The biggest thing that jumped out at me was when you switched from a 6 cim drive train to a 4 cim drive train you said it quit doing it. Your total amperage draw should have gone down when making this switch. You said it does it more when you try to turn, this is likely because you are drawing more power due to the increase friction on the wheels while turning. Our robot does the same thing with the ball shifters on a dead battery (10 volts). IF you look at your RSL (robot signal light) does it flicker as well when it happens? if so you are simply drawing to much electrical current at once for the system. The new gearbox with less motors just reduced your overall power required to run the drive train.