[Doug G]

Originally Posted by Joel J.

Something I'm curious to investigate is some sort of current-based shifting "algorithm." Have the drive default to a reasonable high gear (9-10 fps), then shift to low whenever the current draw grows beyond a certain value for a certain period of time. Then shift back to high when the current draw falls below a certain value for a certain length of time. Then have a manual override of some sort. Pretty much, the system only shifts to low to push.

We experimented with the allegro current sensors in the off season of '05 and had it working exactly how you said. We integrated it into our '06 bot with AM pnuematic shifters, but it annoyed our driver and so he always used the override mode and manually shifted. Perhaps with more practice a driver could get used to this autoshifting behavior. I say current based autoshifting is a cool thing to look into - make sure to set it's thresholds high enough so that it's not shifting when turning if you use high friction wheels and skid steer.