paper: Optimization and Analysis of Drivetrain Movement

[apalrd]

Originally Posted by ThaddeusMaximus

Yes, you can indeed solve DEs numerically in that fashion, but it's hard to truly "optimize"; you've gotta trial-error it in every step (which, could be done, but processing power).

This is true, your approach actually optimizes the gear ratio while mine does that manually. I do like that it can solve for gear ratio instead of just sprint time to distance.

Originally Posted by ThaddeusMaximus

Yeah, this is arbitrary and pretty much just a flexible solution. It's something we're a bit new to, maybe someone else has better insight. I remember 610 saying something about how they optimized with sprint distance in mind in 2013.

This is probably worth of an entire separate paper or more, but I don't think it has been discussed much on CD.

33 optimized with sprint distance in mind in 2013 and 2014 as well, based on analysis I did post-season of our 2012 robot where we did not optimize to sprint. I eventually concluded that a short-spread shifter was a good thing in FRC (1.8:1 or so between gears), rather than the wide-spread shifters currently used (e.g. 2.54:1 and 4:1 AM shifters) because of sprint distance reasons at moderate distances vs full field distances.