pic: GBX-114 swerve with PTO

[Ty Tremblay]

Originally Posted by asid61

This is a 4-cim, 4-minicim drive.
This year, we ran a free speed of around 17fps with 4 cims only and had no problems accelerating at all. 1678's 6-cim drive was geared for around 22fps. This is an even more powerful drive, so I bumped it up to 24fps. The math works out; for anything more than a couple feet it is easy to use high gear (with < 0.05s of lag behind low gear).

Have you done the calculations to estimate current draw on this? 1678 had to take extra steps to reduce the chance of popping their main breaker. Same goes with 254 and many other teams. The only reason 6-CIM drivetrains are even possible is because we know the breaker can hold more than 40A for longer than the spec sheet says.

You're adding 230W of power AND reducing torque. It's not a matter of acceleration, it's a matter of keeping your robot powered while you accelerate.