Gearbox friction model

[IKE]

Originally Posted by Ether

The above is essentially what I used in the Drivetrain Acceleration Model, except that instead of c*speed^2 I used Kro+Krv*speed (line 85 in the C code). This one line of C code is easily changed to make it whatever function of speed you like. In FRC drivetrains, the Kro constant term is probably needed since even at very low speeds and output torque there is friction in the drivetrain (due to tension in the chains/belts, misalignment, etc).

While I agree that a certain amount of friction there initially, I think that value should go away once it is overcome, much like the delta between static and dynamic coefficients of friction. If you are pushing a block on a smooth surface, you need a certain amount of push to get it going, but once it is going, the term would reduce.
I will need to think about that one a bit more, and how it would effect an acceleration model.