- Is it better to have HS motors with a torque gear ratio or Torque motors with a high speed gear ratio? What balance have you found to be best and for what purposes?
We’re considering adjusting the drivetrain but don’t have much time before our next competition to play around with various combinations, so we were hoping for insight from people-in-the-know. The problem is that under regular operation the drivetrain has decent speed to torque (can pick up and carry mobile goals, score in 10 point and 20 point zones, and is of reasonable speed (not super slow - but not as fast as we’d like!). In today’s competition, however, we had a few times where hits from another robot caused the drivetrain to stall.
We currently have 4 motors (2 each side) set to high speed with a 3:2 gear ratio each running an individual omni wheel. We definitely didn’t want to lose speed if it was avoidable (if anything, we’d very much like to get more!), but we are concerned about the stalling even though it was only an occasional problem.
Also, while we’re asking motor questions:
2) Is there an easy way to change the motor gears without having to completely remove the motors if you haven’t already pre-zip-tied them?
3) Would it offer any benefits (or just cause painful problems) to run different motor speeds on your drivetrain front and back?
–For instance, what if the 2 front motors were Torque and the 2 rear motors were HS?
–Would the answer change if the front and back were connected with a chain?
–Do the 2 motors going through motor controllers have a loss of torque (so maybe putting 2 HS motors directly to the 1 & 10 ports and 2 T motors to MC)?