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Re: Measuring motor current (anyone tried this?)
Don,
If you have the option to use a Jaguar and read the data back I would highly recommend you do so. The data is more complete because of the time element included.
We have been looking at current draw during match play. Using the data from the Jaguars gives information that sheds interesting light on how two CIM motors mounted on one transmission behaves.
The attached excel file shows one Jaguar dropping out while the other stays running. The drivers were complaining about erratic driving response from time to time. After seeing this it was easy to understand their complaints.
For the most part the current draw from both motors is fairly close. What we don’t fully understand is why was one motor, or really the Jaguar, tripping out from time to time.
We suspect that the issue may be related to the “pumping” we see from our drivers. This causes very fast complete reversals which puts a very high load on the Jaguar. After we explained this to the drivers this problem was reduced.
We will likely add some form of rate control on next year’s system to limit the fast changes.
The data attached represents a reduced sample of what we get from one match. It is about 20 seconds of teleop run time. It is only part of the data from 4 jaguars. The fault lasted about 2.4 seconds which correlates to the approximate 3 second auto reset time inherent in the Jaguar.
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