pic: 20's IRI Carnage

[KrazyCarl92]

One odd thing that we did with our implementation of the shifters was putting one of our talons in coast mode and one in brake mode on each side of the drive train. Our drivers did not like that the robot was coasting so much when we lined up to shoot from the corner and it significantly increased our time to line up for shots. We tried putting all of our talons in brake mode on the drive train and the motion was far too jerky to be desirable. We then decided to try one motor in brake mode and one in coast mode and we found it to be a great sweet spot. The motion was not too jerky and we were capable of lining up for shots much more quickly.

Could this have contributed to the dog failure? Intuitively it would not seem to make that much of a difference, but I do not know how many teams have tried running a configuration similar to this.