Team 418 built an incredibly crude dynamometer in the shop with an Allegro current sensor and the NI-USB 6009 DAQ device to measure the characteristics of the small and large CIM motors. Unfortunately several mechanical and operational difficulties prevented the gathering of key information for calculating the actual RPM and Torque of the motors, but this information *should* be able to be obtained from CCL Motors (if they will ever get around to responding) and once obtained can be used with the data we collected to analyze the motor behaviors.
You can download the data from the
LASA Robotics NI-DAQ Forum, the data comes with a LabVIEW VI to facilitate viewing of the provided data (screenshot attached). It's worth taking a look at, it demonstrates behavior such as Pulse-Width Modulation, instantaneous current spikes produced by the PWM, and other interesting behavior. Also included in the ZIP file is a short description of the test setup.
-Danny