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#1
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Re: Climb Stopping Mechanism
According to the 2015 FRC motor information sheet, a CIM motor pulls 133 amps at stall. Well above the allowed 40 amp breaker allowed per motor under rule R56 Table 8-3.
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#2
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Re: Climb Stopping Mechanism
133 amps at stall at full voltage. If you stall the motor at much less than full voltage, it will draw significantly less current as well. This can allow you to hold position while the robot has power (but not after power has been cut).
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#3
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Re: Climb Stopping Mechanism
We have an encoder integrated into the climber. We plan on monitoring the current to detect when the climb starts, and set a stop distance based on that start point. The operator will have the ability to jog higher if we stop too soon, but hoping this approach leads to automatic climbing.
Still untested theory at this point. Fingers crossed. Would like to have working repeatable solution by week 1, we are going to need it. |
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