4607 Butterslide Drivetrain V2

[Ari423]

Originally Posted by Ginger Power

I believe this calculation is for when the motors are stalled. With a butterfly drive, there's no reason to get into a pushing match in omni mode. Any pushing would be handled with traction wheels which will take much longer to pop a breaker. With that said, I know 16.5 fps with a single reduction and 4 cim drive is pretty fast, but is it really too fast?

True that 70A is for when the motors are stalled, but don't forget that the motors are stalled whenever they are moving and the robot is not. That includes when the robot starts moving from a standstill and after collisions. The motors are in super-stall when you go from full forward to full reverse.

It ultimately comes down to a question of your factor of safety. I personally wouldn't go above 50A because I don't trust my drivers to not crash into things when they're driving around at 16ft/s or to not go from full reverse to full forward when they're under heavy defense (when you would be using the slide drive). You may trust your drivers more than I do, that's up to you. If you do choose to go with those fast speeds, I would highly recommend some serious voltage ramping and code that auto-shifts to traction drive when the robot starts then shifts back once it gets moving.