So our shooter motor is powered by 2 CIM motors and uses an encoder for us to readback the velocity of the shooter. We then have a feeder powered by a smaller motor.
When the two shooting motors get up to velocity, our software runs the feeder motor to push a ball up into it.
However, we have noticed that when the feeder motor comes on, the velocity of the shooting motors drops, so the ball will be going through at a slower speed than we need. There is no way we can run the feeder motor before turning on the shooting motors as we would push the ball into the wheels.
I am guessing the feeder motor is pulling away from the current of the shooting motors. The shooter motors don’t need to run at absolute max velocity, but they do need to run pretty close to that to be able to make the shot.
We have a Cross the Road Power Distribution board, as well as everything on talons. I am wondering if I can set the shooter’s motors to ‘priority’ or do something with the talons. I would think if teams could support 6 cim drives, we could run 2 cims at near full output with another motor running. Am I wrong?
Does anyone have any ideas? We are in trouble!