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Unread 02-08-2011, 13:17
Brandon Holley's Avatar
Brandon Holley Brandon Holley is offline
Chase perfection. Catch excellence.
AKA: Let's bring CD back to the way it used to be
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Re: pic: Uber 3.0

Quote:
Originally Posted by AdamHeard View Post
When doing your drive calcs at such high speeds, you should also check the time it takes to go a certain distance over the range of gear ratios.

If you had done this, it really would have emphasized that you guys just went a bit over the point where acceleration tanks on 4 CIMs.

We started doing this a few years ago, and it's totally changed how we gear our robots.
Yes we did all of this analysis as part of our standard approach to drive design. The original intention was to come in significantly underweight which we were able to do to some degree. This helped to counteract the drop in acceleration you would expect from gearing for such a high speed.

On full field runs, our gear ratio worked as we wanted it to. To go along with all of this, we had a control scheme (known as Cheesy Drive) that allowed us to control the robot remarkably well at high speed. Our problem was misreading the game slightly, where full field runs weren't as necessary as we thought they may be. Knowing what we know now, we wouldn't have shot for such a high speed.



-Brando
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