paper: Talon, Victor884, Victor888, and Jaguar speed vs torque tests

[Gdeaver]

Our team used talons last year. 8 Total on our swerve module. No failures no problems. We have always put 20mm height EBM- Pabst fans on them. We have a big box of them from previous years. My one most important observation. Our RS-540 steering motors have never run as cool as with the Talons. Original talons not SR's. In a hot warehouse this summer (95 F) our drivers went crazy and drove non-stop for over an hour with only quick battery change for rest. Our steering motors never went over 140F. Our drive cims hit 160F for a short period. The steering motors are in a positional application- go this way no go back this way no go this ways continuously. A Nasty life for a motor and controller. I submit after this observation that the original talons locked anti-phase modulation as opposed to the sign magnitude modulation of the other controllers is superior in a position application that is always hunting and requiring motor reversal. And now they are gone. Do we use last years talons on our 2014 robot or the new SR's ?? I can not prove this with instrumentation we don't have but the observed difference is huge.