StangSense: WildStang's Current Sensing System

[Al Skierkiewicz]

Stangsense has now been field tested and has proved very useful for post match analyzing as well. In comparing currents and battery voltage graphically, we can look back at a match and correlate peak current demand and battery dips very accurately. So accurately in fact that we can see when our robot "shoots" out a ball into the goal. Also by checking post match data, we have been able to determine a list of minor problems that needed to be addressed in the pits. On one match we saw higher current in one drive module indicating that it had come out of alignment and an adjustment was made. In another we were able to determine that for part of the match, one motor was not on the floor.
What has proved most helpful though, is our mini version that is portable enough to carry to other teams, make a few motor connections and analyze electrical problems on their robot. We are able to pinpoint defective motors, high current draws for individual motors in a multi motor drive system, running current vs no-load currents and voltage drop in wiring.
Stay tuned as we further analyze some data we will publish some graphs later this week.
Good Luck All