Quote:
Originally Posted by DonRotolo
As cmwilson13 notes, this is your problem.
It could be mechanical, but I suspect one of your CIMs is turning against the other. Unplug all breakers except one, run the drivetrain and note the direction. Repeat for all other CIMs. Let us know what you find.
As for mechanical: If you cannot easily turn the wheels by hand (robot off), disconnect things until you can. Whatever you just disconnected has a mechanical problem, for example a gear in backwards and rubbing the housing. Happens all the time.
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Please do exactly what is stated above. Do not take any shortcuts.
Remove all your breakers from your drivetrain.
Put one in, check that the motor for that breaker is both:
a) running - a dead motor work will against you, and can cause potential brownouts
b) is running in the CORRECT DIRECTION - this is very likely the problem as you are browning out even when you are up on blocks. My best bet is that you have a gearbox with multiple motors going into to, and one of them is running in the wrong direction.
Remove that breaker, and install it on the next drivetrain motor. Do not install more than 1 breaker at a time when doing this check.
There are a lot of posts in this thread with a lot of "noise" but please ensure you do this 100% before moving on.
I know the code works, I wrote it! It must be a hardware problem.
- buss [more] 
07-03-2016, 10:37
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