pic: Finally Done!

[asid61]

Originally Posted by RoboChair

I would not say 20 fps is too fast.

1678 geared our drive for a theoretical 22/8fps high/low. We measured our top speed at about 18fps on our practice field. It was very fast and I will admit we ran a 6 CIM drive train. It should be said that each gear ratio should be tested under load to find it's ACTUAL output speed. But at this gearing and motor to speed ratio you are unlikely to hit the max potential of the CIMs, you will be accelerating for a large portion of if not all of the distance of the field. It takes us about 1/3rd of the field to get moving at full speed with 2 horsepower backing our drive train.

4 cim versus 6 cim is a noticable difference at those speeds. 20fps is not too fast (I think 22fps is a good speed, but some swerves can move faster) but for 4 cims it is. The question is not only top speed, but acceleration too. 20fps will simply not move you to a spot faster than, say, 17fps with 4 cims, mostly for short distances. It would be nice to see a graph of different top speeds versus time for a given distance.