Problem with driving

[Andrew Lobos]

Did you notice the jerking when driving straight or only when turning? I'm not a mechanical person, but it really looks like your gearboxes contribute to your issues.

Feel free to correct me if I'm wrong on this:
- 6 inch wheels
- 4.67:1 reduction in CIMple gearboxes
- 1 CIM per gearbox
- 1:1 chain linkage to wheels

For this configuration, JVN design calculator says you have a max speed of 24.11 ft/sec and a maximum pushing force of 60.26lbs.


Also remember that the WPILib Scheduler calls your execute() methods on one thread - if one starts blocking it will affect other commands.

[CalTran]

Originally Posted by 4ndr3wl

Did you notice the jerking when driving straight or only when turning? I'm not a mechanical person, but it really looks like your gearboxes contribute to your issues.

Feel free to correct me if I'm wrong on this:
- 6 inch wheels
- 4.67:1 reduction in CIMple gearboxes
- 1 CIM per gearbox
- 1:1 chain linkage to wheels

For this configuration, JVN design calculator says you have a max speed of 24.11 ft/sec and a maximum pushing force of 60.26lbs.

It's dipping so low because you're simply stalling the motors when you even try to move.

[Andrew Lobos]

Originally Posted by CalTran

It's dipping so low because you're simply stalling the motors when you even try to move.

I agree with CalTran.

In 2011, we did the same thing with 8 inch wheels (traction in back, omni in front) but with a reduction between the gearbox and the wheels (chain). The robot barely had enough torque to turn. We ended up switching the CIMple boxes with Toughboxes since we were using a third CIM somewhere else that year.

If you have 2 CIMs or MiniCIMs to spare, you should really put them in those CIMple gearboxes. Unless you have a need for the CIMple box speed, you might be better off switching to the kit toughboxes. Even then, I would still put two CIMs in, otherwise you'll just get pushed around by everyone else.

[AsianRookie]

I think we are going to change the drive train if our weight permits it. I will get back to you guys within a day or three. Thanks for all your help though. By Lenepe, we are going to be awesome.

[professorX]

During the regional, we had a similar issue where our robot would work in the pit area but would "lag" when we drove it on the field. At first we thought it was a cpu issue and then we made the wait loops a little longer (tenth of a second i believe). That did not get rid of the issue.
We started jerking the robot back and forth in the pit to see if we could reproduce the issue. The light on the jaguars were turning from solid yellow to flashing yellow. We traced the problem back to the cRIO. Specifically, our ethernet cable was zip tied really tight and it would lose communication everytime we jerked the robot. Simply creating some breathing room for the ethernet cable solved our issue. Hopefully your problem is easy to solve as ours.