Floor Hugger Drive Train
From wikidb
See Pololu Motor and Wheels
Depreciated Motors
DCM_1 from roboticsConnection.com
- 12V
- 130 mA
- 175 rmp no load
- Grear redution 1:40
- Quadrature Encoder
- 480 pulses per output shaft revolution (I don't think this is correct)
- 6 mm shaft
Tests
rostopic pub -1 /cmd_vel geometry_msgs/Twist '[5,0,0]' '[0,0,0]'
| Rotations | Seconds | RPM |
|---|---|---|
| 30 | 11.4 | 158 |
| 50 | 18.4 | 163 |
| 40 | 14.5 | 165 |
| 25 | 9.3 | 161 |
| Average | 160 (roughly) |
Wheels
- 105 mm wheel from an old Vex kit =>
- 330 mm circumference
- 330 mm/rev * 160 rev/min =>
- 53 m/min or 0.9 m/sec
- 53 m/min / 1610 m/mile * 60 min/hr => 2.0 mph
- Wheeled Platforms "... 1 m/sec is pretty fast for indoor robots."
- Take-away - This is one of the reasons this configuration is hard to control.
