Xa irobhothi ye-FTC ilahlekelwa luqhagamshelwano lwe-Wi-Fi ngequbuliso, ime ngxi, okanye iphinde iziqalise ngexesha lokutyhalana okukhulu okanye xa itshintsha icala ngesiquphe, ingxaki ayisoloko ilikhowudi engazinzanga okanye iimpawu zonxibelelwano ezinempazamo. Kukungoneli kombane (i-electrical brownout).

Phantsi komthwalo onzima woomatshini, iimotha zakho zokuqhuba zitsala owona msinga mkhulu wazo (stall current). Oku kutsalwa kombane omkhulu kuthoba ivoltheji yenkqubo iphela ibe ngaphantsi komlinganiselo ofunekayo ukugcina iprosesa yangaphakathi ye-Android ye-REV Control Hub isebenza, nto leyo ebangela ukuba izicime ize iziqalise ngokutsha ngenkani.

Yintoni Enyanisweni Eyenzekayo Xa Kuhla uMbane (i-Brownout)

I-REV Control Hub isebenzisa isilawuli sangaphakathi esinika amandla inkqubo yokusebenza ye-Android nonomathotholo we-Wi-Fi. Ilindele umthombo oqhelekileyo we-12V kwibhetri yakho esisiseko ye-TETRIX okanye i-REV 12V 3000mAh NiMH. Nangona i-hub yenzelwe ukumelana nokuhla kombane ukuya kutsho malunga ne-8V–9V imizuzwana embalwa, nakuphi na ukuhla okungaphantsi kwe-7V–8V kubangela ukuba iziguquli-mbane zangaphakathi (buck converters) zintlitheke phantsi.

Xa loo mzila wombane uhla, iprosesa iyaphinda iziqalise. Irobhothi iyaphuma kwinethiwekhi ye-Wi-Fi ye-Driver Station, isibane sokubonisa sidanyaze ngokolandelelana kwaso kokuqalisa, kwaye umanyano lwenu (alliance) lulahlekelwa sisakhono sokuqhuba imizuzwana engama-30 ukuya kwengama-45—nto leyo ephelisa umdlalo wenu ngokupheleleyo.

Inzululwazi ye-Stall Current nokuHla kweVoltheji (Voltage Sag)

Izibalo ezisemva kwe-brownout zilula gqitha. Inkqubo eqhelekileyo yokuqhuba ye-FTC (drivetrain) isebenzisa iimotha ezine ezinzima ze-planetary gear (ezifana ne-REV HD Hex okanye i-goBILDA Yellowjackets). Xa zibaleka zingathwele nto, imotha nganye itsala phakathi kwe-0.3A ne-0.5A. Phantsi kokhuselo oluqatha okanye xa kubuyiselwa umva ngamandla apheleleyo, ezo motha zingena ngoko nangoko kwimeko yokuxinga (stall condition), zitsale phakathi kwe-9A ne-11A iyileyo.

Ukuba zonke iimotha ezine zendlela yokuqhuba zixinga ngaxeshanye ngelixa imotha ye-intake okanye ye-linear slide nayo isebenza, amandla ombane ewonke atsalwayo anokudlula i-40A ngoko nangoko. Ibhetri nganye inokuxhathisa kwangaphakathi (R_int). Ngokomthetho ka-Ohm (V_sag = I × R_int), ukutsala i-40A kwibhetri enokuxhathisa kwangaphakathi okuphantse kube yi-0.1Ω kubangela ukuhla ngqo kwe-4.0V kwiitheminali zebhetri kuphela. Ibhetri ebinama-12.0V ngequbuliso inika i-8.0V kuphela kwinkqubo ngaphambi kokubala ilahleko yeengcingo.

1. Ukhathalelo lweBhetri: Kutheni iVoltheji Yokuphumla Ixoka

Ibhetri ebonisa i-12.6V kwi-multimeter yedijithali inokuhla ngokulula iye kwi-6V phantsi komthwalo we-30A ukuba yonakele, ayilungiswanga kakuhle, okanye indala. Ii-multimeter zilinganisa ivoltheji yesiphaluka esivulekileyo (open-circuit voltage), zitsala phantse akukho mbane kwaye zifihla ukuxhathisa okuphezulu kwangaphakathi.

• Yeka ukusebenzisa iibhetri ezigugileyo: Iipakethi zebhetri zokhuphiswano ze-NiMH zidla ngokuhla umgangatho emva konyaka omnye ukuya kwemibini yokutshajwa ngamandla nemijikelo yokhuphiswano yokukhupha umbane omkhulu.
• Vavanya ngomthwalo ngaphambi kwemidlalo: Vavanya iibhetri phantsi komthwalo wokwenyani (usebenzisa isixhobo sokuvavanya iibhetri zezithuthi okanye isihlalutyi sebhetri esikhethekileyo) endaweni yokuthembela kwi-widget yevoltheji ye-Driver Station xa irobhothi ingasebenzi.
• Ubushushu bunendima: Ibhetri esandul' ukukhutshwa kwitshaja iyatshisa, nto leyo enyusa ukuxhathisa kwangaphakathi okwethutyana iphinde ifutshane nexesha lokusebenza. Vumela iipakethi ziphole zifikelele kubushushu begumbi ngaphambi kokuzifaka ebaleni.

2. Ilahleko yoMbane kwiiNcingo nakwizidibanisi

Umsinga ophezulu wombane wandisa yonke imilliohm yokuxhathisa kwiintambo zakho zocingo. Ukuxhathisa okuncinci okungabonisi ngxaki xa uqhuba kwitafile yase-pit kunokulahlekisa iivolthi ezibalulekileyo ngexesha lomdlalo.

• Izidibanisi ze-Tamiya: Izidibanisi zeplastiki ezimhlophe eziqhelekileyo ze-Tamiya ezifumaneka kwiibhetri ezindala zidume kakubi ngokukhululeka kweephini nokuxhathisa okuphezulu konxibelelwano. Misela ukusetyenziswa kwee-Anderson Powerpoles okanye izidibanisi zokwenyani ze-XT30 kuyo yonke irobhothi yakho nakwiibhetri zakho.
• Ukuxhathisa kweswitshi: Iswitshi yombane ephambili esisinyanzelo ye-20A inokuqokelela ukungcola kwekhabhoni okanye ixhネジke emva kokusetyenziswa kakhulu, nto leyo ezisa ukuxhathisa okukhulu. Ukuba irobhothi yakho iyaphinda iziqalise xa icofa kancinci kufutshane neswitshi ephambili, yitshintshe ngoko nangoko.
• Ubungqindilili nobude: Gcina iintambo zomsinga ophezulu phakathi kwebhetri, iswitshi, ne-Control Hub zifutshane kangangoko kunokwenzeka usebenzisa ucingo lwesilikoni lwe-14 AWG okanye 16 AWG. Kuphephe iintambo zeadaptha ezingeyomfuneko.

3. Izisombululo zeSoftware: Ii-Slew Rates noLawulo loMsinga woMbane

Ulungiso loomatshini nolombane luqinisekisa ukuba i-hardware iyakwazi ukumelana nomsinga wombane ophezulu, kodwa isoftware elungileyo inqanda ukunyuka okungalindelekanga komsinga wombane ngokupheleleyo.

Eyona nto idla ngokubangela i-brownout kukutshintsha ngoko nangoko ukusuka phambili ngokupheleleyo (+1.0) ukuya ngasemva ngokupheleleyo (-1.0) kwi-joystick yephedi yomdlalo. Xa imotha ejikelezayo inyanzelwa ukuba ibuyele umva ngoko nangoko, i-back-EMF idibana nevoltheji yomthombo, idale ukunyuka okukhulu komsinga wombane okudlula kakhulu amanqanaba aqhelekileyo okuxinga (stall ratings).

• Faka iSithinteli se-Slew-Rate: Nciphisa isantya samagalelo e-joystick kwikhowudi. Endaweni yokufaka amandla emotha ali-100% kumjikelo wokuqala wolawulo, nyusa amandla ajoliswe kuwo kancinci kancinci kwisithuba semizuzwana eyi-100 ukuya kwengama-200 (milliseconds). Abaqhubi abasayi kuyiqaphela le mbalelwano, kodwa isusa ukunyuka komsinga wombane ophezulu.
• Sebenzisa i-RUN_USING_ENCODER ngononophelo: Isilawuli se-PID sesantya esakhelwe ngaphakathi se-FTC SDK siya kuyalela umjikelo womsebenzi we-100% ukuba umqobo uthintela imotha ekufikeleleni kwisantya ekujoliswe kuso. Ukuba indlela yakho yokuqhuba iyabambeka kumda webala lokudlala, umjikelo we-PID uya kugcina owona msinga mkhulu wokuxinga ide i-hub icime (browns out).
• Beka esweni ivoltheji yebhasi ngexesha lokwenyani: Bhala ingqiqo yokhuseleko (safety logic) kumjikelo wakho we-teleop. Ukuba i-controlHub.getBatteryVoltage() ihla ibe ngaphantsi kwe-9.5V, nciphisa oomatshini abangabalulekanga kangako (njengee-intake rollers okanye ii-outriggers ezisebenzayo) de ivoltheji iphinde ibuyele esiqhelweni.

Uluhlu Lokujonga Olushwankathela Konke

Ukuphelisa ii-brownouts kufuna ukuphatha uhlahlo lwabiwo-mandla njengeyona nxalenye iphambili yoyilo endaweni yokuba yinto ecingwa mva. Ukuba umisela okanye uphucula i-hardware yeqela lakho kule sizini, ungafumana iintambo zombane ezikumgangatho wokhuphiswano, izivamvo (sensors), namalungu olwakhiwo kwi-venkile yakwa-Sheen Robotics, okanye uphonononge izixhobo zethu zokucebisa kwi-nkxaso ye-FTC yakwa-Sheen Robotics.