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Unread 08-06-2014, 19:07
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Re: The in-wheel swerve shifter!

Quote:
Originally Posted by asid61 View Post
Like I said, the motor only fights against the drive shaft. That's just a couple miter gears, two 3" shafts, 2 sprockets and a gear. The CIM will instantly reverse unloaded, so even with the above it's not a lot of inertia.
Why are you ignoring the load of the robot and the drivetrain itself? Even with your shifting coupler, it will only disengage as the motor attempts to turn the shaft the opposite direction. Until this is disengaged, as the motor slows the drivetrain slows, and the load of the drivetrain is placed on the motor.

CIMs do not "instantly" switch direction under zero load. Quickly, maybe, not instantly.
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