My programming is being done in command based, when we are using climber it is not freezing after disable is pressed, sparkmax is in kBrake mode within the REV Hardware Client and within the code it is also in kBrake mode, within cmd I I have initialize to stop the engine, and I have the default command in robotContainer, any idea what it could be? Is it an error within the code or something mechanical?
Brake mode doesn’t guarantee the motor will stop. It just makes turns the motor into a generator, which means it takes work to turn the output shaft. It can only resist moving so much though, so without proper gearing, you might not be able to rely on brake mode alone to hold your robot up
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proper gear? I don’t understand this, but what can I do to brake my climber since brake mode doesn’t work?
Brake mode will not stop a robot from falling after power is killed and there is nothing in programming that will prevent the robot from falling after power is killed you need to add a physical brake of some sort onto the mechanism there are many different ways this can be done, the simplest and quickest method would be to add an actual ratchet wrench onto the mechanism to prevent back drive, other options are a bicycle brake, or a ratchet and paw, which is the method we are using to prevent our motor from back driving.
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This is not 100% true.
It depends on how the climber is geared.
“Geared” in this case is referring to the gear ratio or mechanical advantage between your motor and your mechanism.
This is a big subject, and hard to cover simply in one Chief Delphi post, but essentially your motor has a certain amount of torque and speed it can output. If you want to get more torque, you can use sets of gears (or sprockets or pulleys or a planetary gearbox) to trade speed for torque.
With sufficient torque, and the motor in brake mode, a climber can hold a robot up at the end of the match (or at least for long enough to count the points).
Yes but in this situation, his gearing is not enough to accomplish that, and is most cases adding more gearing to it is not in the cards at this point into build season therefore a external brake in my opinion would be the quickest and Easyiest to implement and speed is not then sacrificed
I can suggest using a ratchet for locking the climb for cheap and easy implementation you can just use a ratchet wrench but then your climber can only be used only once per match which shouldn’t be a problem unless you miss the chain
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saw this incredibly simple and clever climber latch in Barker’s reveal!
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Might be easier than adding a ratchet at this point depending on what the mechanism is/how it works (if it’s on an arm or elevator that also does ten other things on the robot).
Given all the main motors we use (NEO, Falcon, CIM, Kraken) have the same mounting pattern, it might be super easy to replace your NEO with a NEO mounted to a 125:1 MAXplanetary (5:1, 5:1, 5:1)
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