wpilibsuite/wpilib-docs

Add article (w/ robot data) on determining appropriate current limits

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#1,839 opened on Jun 13, 2022

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Description

This is especially crucial for drives; non-current-limited drives tend to chew up carpets, wheels, and batteries for no good reason. You can avoid this by putting the robot up against a wall, linearly ramping the voltage, and recording the peak current reached (after the wheels slip the torque/current will drop slightly as the dynamic COF is lower than the static COF for pretty much all wheel materials).

Limiting motor current to a bit below the value required to slip the wheels should improve robot performance and decrease wear.

Contributor guide

Research direction
Explore the WPILib documentation repository structure, understand how articles are organized, and research motor current limiting concepts and practical methods for determining appropriate limits.
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None
Domain
documentation
Issue type
Documentation
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
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Fresh
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
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Git
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
75