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Originally Posted by FizMan
You might also want to include a sort of "buffer"... if for some reason your robot is fluctuating speeds from just above and below "x2", then it'll be constantly engaging the shift back and forth... probably not the healthiest thing.
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This "buffer" is called hysteresis. Before shifting up, you should wait until the RPMs/speed is "a little" above your threshold, and before shifting down, you should wait until it is "a little" below.