6 CIMs and 4 MiniCIMs - Will they stay?

[Michael Hill]

I don't think AndyMark would have put that much time engineering a 3-CIM gearbox if it were a 1-year thing. Just my thought.

[Jeffy]

I sure hope so. The fact that the 10 most powerful motors this year had the same mounting and shafts was a blessing.

[Mark Sheridan]

I hope it stays. We used only 6 motors this year thanks to a PTO gearbox, so I want this rule around next year so I can actually use it.

[nerdherdmember]

I talked with the people in AndyMark's sponsor stand about them releasing more 3 motor gearboxes and was told that FIRST had not given them any signs about whether or not 6 CIMs would be staying. It does seem logical that at the least some MiniCIMs will remain, as IFI has made a significant investment into that motor, so 4 CIM 2 MiniCIM drive will most likely remain an option.

[MichaelBick]

I think the motor rules made the game extra interesting. That said, I'm torn. I think so many powerful motors added to the game, though they also made it easier. I really hope we get at least 2 Mini-CIMs and 4 CIMs next year, but beyond that I feel it is a bit excessive(remember we still have 8 more 500 series motors).

[DampRobot]

Let me just say this: 6-CIM drivetrains can break the main 120 amp breaker if they are stalled. With a 6-CIM drive, you're essentially giving good defenders a way literally shut your robot down.

As for continuing to have insane amounts of power like we did this year? I sure hope it continues, but I certainly wouldn't take this much raw power for granted. It obviously depends on the game, but I'd bet on 4 CIMs and 2 Mini-CIMs for next year.

[Mark Sheridan]

Originally Posted by DampRobot

Let me just say this: 6-CIM drivetrains can break the main 120 amp breaker if they are stalled. With a 6-CIM drive, you're essentially giving good defenders a way literally shut your robot down.

As for continuing to have insane amounts of power like we did this year? I sure hope it continues, but I certainly wouldn't take this much raw power for granted. It obviously depends on the game, but I'd bet on 4 CIMs and 2 Mini-CIMs for next year.

Well you still have to get your gear ratio and traction correct. Having extra motors gives you a few more variables to play with.

Originally Posted by DampRobot

Let me just say this: 6-CIM drivetrains can break the main 120 amp breaker if they are stalled. With a 6-CIM drive, you're essentially giving good defenders a way literally shut your robot down.

As for continuing to have insane amounts of power like we did this year? I sure hope it continues, but I certainly wouldn't take this much raw power for granted. It obviously depends on the game, but I'd bet on 4 CIMs and 2 Mini-CIMs for next year.

I know a few teams who made a single-speed 6-CIM drivetrain and never had any problems that I've seen (one that comes directly to mind is 973).

[F22Rapture]

Originally Posted by DampRobot

Let me just say this: 6-CIM drivetrains can break the main 120 amp breaker if they are stalled. With a 6-CIM drive, you're essentially giving good defenders a way literally shut your robot down.

So can 2 CIMs, or 4 CIMs. As long as you don't gear too high for the amount of torque you have available (which will increase with the number of CIMs), your drivetrain should stay traction-limited and never stall.

[cgmv123]

I only see the extra motors staying if the available power increases (bigger battery/main breaker).

[Tom Line]

Originally Posted by cgmv123

I only see the extra motors staying if the available power increases (bigger battery/main breaker).

I disagree.

This is one of those things that teams need to be aware of and design around, as part of the design challenge. I think it's much more real-world to actually have some imposed design constraints rather than having FIRST provide us a system that can be plugged together and won't fail (like Lego League). Even FTC needs to be careful about motor loads.

[cbale2000]

Originally Posted by DampRobot

...6-CIM drivetrains can break the main 120 amp breaker if they are stalled...

Does anyone know of an instance where this has EVER happened on a FIRST robot?

[DampRobot]

Originally Posted by cbale2000

Does anyone know of an instance where this has EVER happened on a FIRST robot?

Yes. 766 shut down 971 in this way at a match at SVR, and we won the match because of it. I have also heard anecdotal evidence of 254 having similar problems.

Originally Posted by DampRobot

Yes. 766 shut down 971 in this way at a match at SVR, and we won the match because of it. I have also heard anecdotal evidence of 254 having similar problems.

Maybe someone from 971 can answer this, but what gear were they in (and what speed)? Do you have video of the match?

[DampRobot]

Originally Posted by Andrew Lawrence

Maybe someone from 971 can answer this, but what gear were they in (and what speed)? Do you have video of the match?

I believe its on TBA. It might have been match 50.