Quote:
Originally Posted by Oblarg
The thing is, in my experience, your 'case 2' is by far the most common.
Even if your robot can move, you can (and will) still slip the wheels if your motor torque is high enough to break static friction, unless you are being very careful with the throttle. .
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If it's case 2, it doesn't matter, you're not pushing them even if your wheels didn't slip.
If your robot can move the load reasonably well (and low gear isn't unreasonably low), then no, the wheels aren't slipping - the load is moving instead. Except for the edge case where you are just barely able to move the load you are trying to push, the wheels apply force, and the robot+load start to move before the wheel slips. The motor isn't stalling anymore, it's moving, the torque is being "used up" to make the robot move.