paper: New Control Functions - Drive System Testing

[Chris Fultz]

When we were accelerating just our robot (140 pounds), with 4 CIM, 6 CIM or 4+2 CIM, we were above 100 amps for about .4 seconds. There is not much difference in the peak for 6 or 4+2 (about 250 amps). The peak for the 4 CIM was just over 200 amps. We could run about 11 FPS, with the 4+2 approaching 12 (mini-CIMs have a higher output speed).

When we were pushing another robot (Victors in braking mode, 130 pounds but robot not active), the 4 CIM was above 100 amps for about 4 seconds, the 6 CIM for about 1.2 seconds and the 4+2 CIM was above for about 2 seconds. The recorded peaks were all in the 240 amp range. We could run about 7 - 8 FPS when pushing, so a significant loss in performance.

This is with our specific set up for the test - ~8:1 reduction and 4" wheels, so a theoretical top speed of ~12 FPS.

We never popped the main breaker, in any of our testing.