Equivilant Motor Output

[JesseK]

There are alot of questions in here, so if there's a guide I can read to do this then maybe that would be simpler. Let's put together a hypothetical situation for an experimental drive train. The goal of the drive train is to have almost the same pushing and acceleration power as a 4CIM drive train, but it's ideal case is to only use 3 CIMS, combined with two window motors to disallow backdrive. Let's also assume we can mate each motor to their respective transmissions (3 CIMS to one toughbox and a window motor to a stackerbox). The window motor in consideration is the Nippon-Denso window motor, yet this will all have to be reconfigured for whatever comes in a given KOP.

So how do I calculate the equivalent torque and overall current draw?

The free speed of the output shaft on a AM toughbox with two CIMs is 5500*(14/50)*(14/50)=431rpm. How do I calculate the equivalent stall torque? It would seem that for two CIMs it is (2.22*2)*(50/14)*(50/14). Is this correct?

To match the toughbox output shaft free speed mentioned above, each window motor would have to go through a reversed stackerbox, then to a 16:28 sprocket expansion (is that the right word?). It's an exact match -- 92*(50/14)*(21/16) = 431rpm. Do I follow the above procedure to calculate the equivilant torque for two motors?

Now to add the torques together for 3 CIMs and 2 window motors -- is it a straight addition? We can ignore efficiency losses for now.

I understand that each individual motor draws a current proportional to its torque contribution to the load, so assuming I can calculate the total current at stall I believe I can calculate each individual motor current. To calculate the equivalent stall current however, do I need to add the stall current together from the specs tabs for the motors or is there something else?

There is a new design I am prototyping in VEX right now, and it seems to work ok. Yet I know that there is much more to consider in FRC than plastic gears and milliamp motors will allow for. If I can figure things out, I'll release the idea this Fall. Thanks in advance!