pic: Shifting Drivetrain with Transmissions

[Jared]

Originally Posted by Travis Schuh

Why 6 and 13.5? That seems pretty slow. There is more room to make low gear faster while still being traction limited. We ended up with a 6fps low gear in an off-season bot last year, and found how slow it was a limit to how useful low gear was.

With the 6 fps low gear, we get 48.7 amps per motor during a pushing match, which is why I chose that ratio. If we want to go faster, the CIM pinion could be replaced, increasing the speed to 7.38 feet per second in low gear and 15.81 feet per second in high gear, but we'd have 56 amps per motor in a pushing match.

What do you think ideal free speeds for a 2 CIM gearbox are?

I can also take high gear up to 18.27 feet per second (with low still at 6), but I think this might be too fast. Low gear could also be increased to 9.41 feet per second (71 amps/motor), but this is too high.

I can also do 6.33 low, 17.5 high, or 5.8 low 16.11 high.
If anybody is interested, here is the CAD.
https://drive.google.com/folderview?...&usp=sha ring