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Its ok if the high speed motor is always engaged - if you know the speed of the robot, you can contol the power to each one seperately - and you wouldnt 'lean' on the high speed motor until your speed was within its desired range.
and when you reverse, you would power both motors - the high torque motor would freewheel (not catch) and the high speed motor would have all the load. You would not have a lot of torque in reverse, but you could at least back up when you need to
or maybe you could use the ratchet wrench mechanism - make it reversable - then you have high and low torque in forward and reverse directions - you just need to have a shift button, like a car does.
The more I think about this idea, the more I like it. Its simple and easy to implement.
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