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Originally Posted by Matt Adams
Rob-
How did you "slow down"? Via the joystick or by some sort of a shifting device? I'd have to do some thinking about it, but initially I'd say that that just "slowing down" via a joystick wouldn't let one motor kick in more torque than the other since the amount of torque needed would be constant at any moving speed, and presumably, the joystick would control both motor's input voltage.
Matt
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There was no option to slow down, the robot slowed itself down when the additional load of the goals was added to the robot. The drills couldn't fully handle the extra 362 pounds and so the motor slowed down and then the Atwood picked up for it, drawing less current than running the Atwood at a slower rpm. We also had a 'software shifter' which took the joystick feedback and divided it by 1.5 so the operator could switch the speed down when latching onto goals.