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The stall current may be 9.6A BUT when changing direcion from full reverse to full forward this can double! but don't panic.
when balancing the goal is to stand still ,, ie 0 amps, and at a few degrees off you will only be using very low PWM % to correct . I have used NiMH 2.5 AH AA which give me hours (weeks) of development time per charge, they wont give 9.6A but are you sure you need it for initial tuning ? the motors burn the Amps mostly when they try to run off the table and you have to catch it !, have fun.
Quote from: beautifulsmall on December 10, 2010, 03:36:50 PMThe stall current may be 9.6A BUT when changing direcion from full reverse to full forward this can double! but don't panic.This is something unbelievable; I've always thought that cannot draw more than stall current. Stall current is drawn when motor is... well... stalled, so how can current consumption go beyond that?
The motor is a large inductor and when shifting direction, it will try to maintain current flow in that direction, so you need to feed this amount plus what you need to go the other way.
Coming back to capacity of battery, is there a way to calculate how much I need (without actually measuring average usage)?
QuoteComing back to capacity of battery, is there a way to calculate how much I need (without actually measuring average usage)?There is an SoR Energy calculator in the tutorial section that gives a fair guess.
When I use Energy Calculator how can I determine Travel Distance (per Trip) and number of Trips if robot is balancing only and is not actually doing a Trip?If I finally get Required Battery mAh I would use it in Battery Calculator; however, there is another problem. As robot balances, motors should be switching on and off all the time and going from stall to idle constantly.How can I determine Expected Current Draw and Time % Motors Used?
No offence, but I don't like guessing. I prefer mathematical calculations