Back driving a CIM

[nathannfm]

Originally Posted by matthewdenny

We are thinking about the possibility of a drive motor being only occasionally used, and freely spun by the gear box when not used for acceleration/pushing.

As long as you don't set it to brake mode this should not be a problem but acceleration and pushing make up almost all motion in an FRC match because by definition to change direction you must accelerate.

Originally Posted by matthewdenny

We also have a swerve design where to rotate the wheel 90 degrees it would have to back drive a cim a rotation or two.

In most (if not all) swerve drives that use bevel gears when the pod rotates instead of backdriving the cim the wheel turns slightly.