Strange Jaguar/CIM Motor Behavior

[Jimbo2032]

David,

When working on he robot last night I had it up on blocks at one point and did what you suggested. I don't remember specifically the results so I will try again tonight and document the results. I do remember though that it seemed as though there were some wheels that lagged a little.

In that I mean that when I pushed slightly forward on the stick some wheels would begin to rotate before the others. Once all the wheels were rotating it was in the correct direction (forward) but it still seemed that some were rotating slightly faster.

I would like to think that this is a software issue rather than a hardware (electrical) or mechanical issue, but I am not sure. Do I need to add some kind of feedback to my system to have all wheels moving at the same speed?

If it is mechanical, I would suspect a problem in the gearbox or the wheels themselves. How much torque do I need to use to tighten the wheels? Should the rollers be able to spin freely, or should they have some resistance, or should they pretty much be bound up and hard to turn?

Sorry to so many questions, I just want to have as many leads as possible for my team when we meet tonight.

P.S. We know that the wheels are mounted in the correct positions, we fixed that problem last night, haha.