My team has been debating going all-in and dropping $1.2k on some Falcons. It’d be much cheaper for us to stay on SRXs. I decided to do a quick simulation of a sprint:

- 4 Falcons / Robot, 6 miniCIMs / Robot
- Global current limit of 400A / Robot (ie 100A / Falcon, 66A / miniCIM)
- Geared for the same speed, ~14 fps free (8:1 on the falcons)
- Constant 12V applied
- Voltage sag is ignored
- Free current is ignored
- Rotational Inertia of the wheels is ignored

Here’s the summary graph:

And here’s the python3 code:

sprint.py (3.0 KB)

These results seem a little underwhelming given the hype. If they’re correct, we’d likely go with miniCIMs.

Is there an implication I’m missing? Did I make a mistake or simplify too much in the simulation?

EDIT: I had made some mistakes with constants; it’s fixed now. Results are the same as before, save for a constant multiple.