Quote:
Originally Posted by Al Skierkiewicz
So as I have stated in other forums, although the output change per PWM value is more linear for the Jaguar, talking about linearity when connected to a real world motor, means very little. Your load, series wiring, software and motor will all be different from all other users. The battery voltage changes over a match and with how many motors are turned on and their respective loads. Every motor we use on the robot has a varying load and that varying load will move you around on the motor curve. Turn on 4 CIM motors and drive into the side of the field, and the power supply will fall. If you are still giving the same PWM value to a motor controller, it cannot drive the motor speed to the same point as when the four CIM are not being driven. Linearity only holds true when all other variables are held constant.
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Are you saying that a CIM at full-forward with the battery at 11.5v will perform differently depending on whether the battery is drawn down under load or simply drawn down over time?