@Mystellianne So my team has recently been able to take off two extra motors from other systems so that they can be used on our drivetrain so that our bot can both travel faster and burn out less.
Currently our bot runs on a 4-motor direct drive hi-speed base, and only burns when we ram into the 20-pt bar for more than 5 seconds, but is relatively slow because our robot is way too heavy atm.
Now that we have two extra motors to allocate to the drive, I'd like to know what our best options are. My teammates want to chain everything 1:2 on torque motors (so 200 rpm), but I think the weight and friction of chaining isn't worth it, and I instead proposed a 6-wheel direct drive hi-speed or turbo base.
We're modifying our mogo lift so that the robot weighs a lot less at the end of this, so I don't think turbo will be an issue, as the change in motors (6/4) is the same as our change in rpm (240/160), so the torque of the new vs old system should stay the same, and our overall weight will decrease anyway.
Thoughts on the two suggestions?
you would be correct, as adding the chain drive would only serve to add friction or weight. (2:1 is a speed ratio but that's not what this thread is) Essentially, you would be going about the same thing in two different ways. One thing to point out is that a 6 motor turbo and 4 motor high speed have the same amount of power, as in pushing power. The math works out (assuming all motors have the same amount of power) 4 motors at a 1.6:1 power. This results in a torque of 4/1.6= 2.5 motors of pushing power. Again, at 6 motors at a 2:1 ratio (or turbo which is the same) it means you end up with 3 motors of power. However slight that difference is becomes negated with the increased stalling associated with going faster. This principle essentially states that when you move faster, your motors have to do more work to slow down, due to the increase in momentum, leading to stalling at about the same time.
My recommendation is that you use a 6 motor high-speed drive, or an 8 motor turbo drive, as has been standard in most of the reveals this season. We experimented with A 6 motor turbo and found it stalled too often and was too inconsistent with stalling and lack of torque. So that's my recommendation, I've seen robots pull off a 6 motor turbo, however, this year with the cones I don't recommend it.