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Originally Posted by sear_yoda
Team 1189 is cursed when it comes to drill motors.
But now, when we drive the robot around the shop, the familiar jerking control and clicking of the breakers has returned! It makes all of us in the shop (except the drive train person) scream for use of CIM's, if only for their extreme simplicity from the outside! I mean, so many things can go wrong with the drill motors: Are the pins okay? Is the clutch engaged? High/Low gear? Brushes bent? Solder joints weak? Those thick black Korean cylinders look mighty tempting when all you have to decide is 'broken, or not?'.
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Well you have a lot of good suggestions so far. I would add a few more.
1. Are you using tank steering? (i.e. steering is accomplished solely through the drive motors and no tires turn to steer.) If so can you drive straight up and back without tripping the breakers? Turning produces incredible friction on the drive train and any friction is translated into high current.
2. Have you removed the drill motors and tried turning the drive system by hand? If you can't do this then the parts are not aligned as well as you think. Make sure the shafts, pillow blocks, and bearings are all running true. The right angle helical drive must be at perfect right angles for you to minimize friction there. My suggestion is to rebuild the drive starting at the wheels. Get the wheels turning freely before adding the next drive component, get that in alignment and add the next componenet one at a time until you get the drill and transmission mounted up.
3. Are you asking the drive to go too fast? With big wheels on the robot you may need to slow the speed down in software to compensate for the large wheel. Another alternative is to select the low speed on the transmission. I would trade speed for reliable operation any day. You can't play if you can't play!