paper: New Control Functions - Drive System Testing

[Michael Hill]

Thanks a lot for sharing this. This is pretty interesting, and could potentially cause a lot of headaches for teams that run 6-cim drivetrains in high gear. I only have theoretical calculations, but it appears that if you have a fully loaded robot (weight-wise), and run in high (fast) gear, you could potentially not even start. I'm using my drivetrain calculator (available as a white paper), and looking at a gear ratio of 4.63:1, 4 inch wheels, and a battery voltage of 12.8V (typical of a mid-match voltage) (Note: this is the default setting for my drivetrain simulator). From a stop, it looks like the battery voltage could drop down to 6.67V if the robot were commanded to go full forward. Again, this is all just a simulation that has absolutely no guarantee of correctness, but if possible, I'd love to see if this causes problems in reality.