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Unread 31-10-2005, 12:41
gshosford gshosford is offline
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FRC #1293 (D5 Robotics)
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Join Date: Apr 2005
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Re: Motor Bias

Quote:
Originally Posted by ConKbot of Doom
The CIMs are supposed to be wound without bias, and haven't given us any trouble in the last competition that would seem to show a bias. But it would be nice if someone who had the facilities could get torque-speed curves for both CW and CCW.

Are you sure that its in the motors and not in the drivetrain hooked to the motors?
We changed the program to lower the maximum pwm to each motor. As I recall we calibrated the Victors before we started our test. We put the robot up on blocks to check wheel rotation so the wheels were not in contact with the floor. With a PWM of 127 + 32 to one Victor and 127 - 32 to the other Victor there was a significant difference in the two motor speeds. When we moved the joystick to the opposite extreme, the motor that had been the faster of the two became the slower of the two and the one that had been the slower of the two became the faster of the two. The observations are qualitative, but there were significant differences between CW and CCW motor speeds.

Last edited by gshosford : 31-10-2005 at 12:44.
 


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