Limiting Drivetrain Motors

[Tom Line]

I don't think that anyone can deny that FRC in general is in a bit of drive train war right now. The latitude we've been given in the last few years in motor choice and availability have made 6 cim drive trains increasingly common, with some few teams even moving to an 8 motor drive train.

That isn't a bad thing from an engineering standpoint.

Drive trains area already limited by the 120 amp breaker. Assuming the new CrossTheRoad PDB and current monitoring does what we hope it will, teams should be able to ride 'upper limit' of power while not popping their breaker.

I have to wonder, though, if we would be better served in FRC by limiting the total power output of the drivetrain. There is an argument to be made about the increasing price of multi-cim multi-speed gearboxes. A reasonable argument can also be made that the kitbot drive train has been rendered obsolete. This year, we saw an extremely brutal game. This made partially possible by the wide open field, but the high acceleration and high top-end speed that our drivetrains delivered were also responsible. A lot of robots left the field in pieces: even those of multiple-time world champions.

I think we've reached the point where it's time for FRC to consider reigning in the drive train power. I wouldn't be adverse to a max 6 cim, or even 4 cim and 2 mini-cim 'power' limit. I don't have my motor sheet in front of me to lay down the power numbers of those motors right now. What do other folks think?