pic: Shifter Fix

[lukevanoort]

Originally Posted by Tom Line

I'll second the servo issue.

Simply: servo shifting super shifters stinks.

I couldn't resist all those S's. The servos cannot shift under any type of load. The sometimes can't pull it out of gear when your robot isn't moving, and often will not go into gear at all.

We just installed a pneumatic system on the bot last night so we can shift.

We aren't running Super Shifters, but we are using AM Gen2 Servo Shifters, which have a very similar shifting action. We had the symptoms you describe when we tried to shift before we added some oil (I think we actually used thread cutting oil) to the dog and the shaft it slides on. After that and a little tweaking of the points the servo shifts to, the transmissions shift reliably and pretty quickly. Under heavy load, they take about one second to shift, but they do shift reliably (the only times we've missed shifts were when the servo was going to the wrong point); under light loads, the time drops well under a second. We haven't had a chance to try it out yet, but we have added some code to cut motor power for about a tenth of a second (we'll probably change that to a quarter or half a second of reduced power instead of a tenth of none), which should make shifting a bit faster.