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Optimization and Analysis of Drivetrain Movement

by: **ThaddeusMaximus**

_Gear ratio selection is typically based upon theoretical top speeds or pushing power, but oftentimes, this isn’t the criterion, and is a poor model for actual events. Sprint distance can play a much bigger factor for agile defense.

In this, we’ll take a look at how to optimize based on reaching a certain point first, rather than being as “fast” as possible._

In the High Level Overview, basic facts about motor curves and limitations of our models are brushed over.

In the maple sheet, I use differential equations to model the velocity and distance travelled of a typical FRC robot as a function of time and gear ratio. This will then allow me to target a specific “sprint” distance, solve for required time, and find the gear ratio which reaches this distance in minimal time.

Motor DEQ.pdf (71.5 KB)

DC Motors and Gearboxes.pdf (585 KB)

Motor DEQ Interactive.zip (31.3 KB)