Lapho irobhothi le-FTC lilahlekelwa ukuxhumeka kwe-Wi-Fi kungazelelwe, liqina, noma liqala phansi phakathi nomzabalazo onzima wokuphushana noma ukushintsha indlela ngesivinini esikhulu, inkinga cishe ayibangelwa ukungazinzi kwekhodi noma izimpawu zomsakazo ezinephutha. Kubangelwa ukushoda kukagesi okwesikhashana (i-electrical brownout).

Ngaphansi komthwalo omkhulu wemishini, amamotho akho okushayela adonsa amandla kagesi aphakeme kakhulu lapho ebambekile (stall current). Lokhu kudonsa amandla okukhulu kwehlisa ivoltheji yayo yonke isistimu ngaphansi komthamo odingekayo ukugcina iphrosesa yangaphakathi ye-Android ye-REV Control Hub isebenza, okuholela ekutheni iqale phansi ngenkani (hard reboot).

Yini Ngempela Eyenzekayo Ngesikhathi Se-Brownout

I-REV Control Hub isebenzisa isilawuli-gesi sangaphakathi (internal regulator) esinika amandla isistimu yokusebenza ye-Android nomsakazo we-Wi-Fi. Ilindele amandla ajwayelekile angu-12V kusuka ebhethrini elijwayelekile le-TETRIX noma le-REV 12V 3000mAh NiMH. Nakuba i-hub yakhelwe ukubekezelela ukwehla okufika cishe ku-8V–9V ngesikhashana esincane kakhulu somzuzwana, noma yikuphi ukwehla ngaphansi kuka-7V–8V kubangela ukuthi ama-buck converter angaphakathi angasebenzi kahle.

Lapho lowo mugqa kagesi wehla, iphrosesa iqala phansi. Irobhothi linqamuka kunethiwekhi ye-Wi-Fi ye-Driver Station, isibani sesikhombisi sicwayiza silandela ukulandelana kokuqala phansi, futhi umfelandawonye (alliance) wakho ulahlekelwa yikhono lokushayela imizuzwana engu-30 kuya kwengu-45—okuyinto eqeda umdlalo wakho ngempumelelo.

Isayensi ye-Stall Current Nokwehla Kwevoltheji (Voltage Sag)

Izibalo ezichaza i-brownout zilula futhi zicacile. I-drivetrain ejwayelekile ye-FTC isebenzisa amamotho amane anzima e-planetary gearmotor (njenge-REV HD Hex noma i-goBILDA Yellowjackets). Lapho ijikeleza ngokukhululekile, imotho ngayinye idonsa phakathi kuka-0.3A no-0.5A. Ngaphansi kokuvikela okuqinile noma lapho ubuyela emuva ngesivinini esiphelele, lawo mamotho angena esimweni sokubambeka (stall condition) ngaso leso sikhathi, edonsa phakathi kuka-9A no-11A iyinye.

Uma wonke amamotho amane e-drivetrain ebambeka ngesikhathi esisodwa ngenkathi imotho ye-intake noma ye-linear slide isebenza, amandla kagesi aphelele adonswayo ngaleso sikhathi angadlula u-40A. Ibhethri ngalinye linokumelana kwangaphakathi (R_int). Ngokomthetho ka-Ohm (V_sag = I × R_int), ukudonsa u-40A ebhethrini elinokumelana kwangaphakathi okungu-0.1Ω nje kuphela kubangela ukwehla okungu-4.0V ngqo ezingxenyeni zokuxhuma zebhethri kuphela. Ibhethri elikade lingu-12.0V livele linikeze u-8.0V kuphela kusistimu ngaphambi kokubala ukulahleka kukagesi ezintanjeni.

1. Ukunakekelwa Kwebhethri: Kungani Ivoltheji Engasebenzi (Resting Voltage) Idida

Ibhethri elikhombisa u-12.6V ku-multimeter yedijithali lingehla kalula liye ku-6V ngaphansi komthwalo ongu-30A uma lilimele, linganakekelwe kahle, noma lilidala. Ama-multimeter akala ivoltheji yesekethe evulekile (open-circuit voltage), engadonsi cishe kagesi futhi efihla ukumelana okuphezulu kwangaphakathi.

• Yeka amaphakethe agugile: Amabhethri omncintiswano e-NiMH ajwayele ukonakala ngemva kwamasizini aphakathi kwelilodwa kuya kwamabili okushajwa ngamandla nemijikelezo yokukhipha amandla aphezulu emincintiswaneni.
• Hlola umthwalo ngaphambi kwemidlalo: Hlola amabhethri ngaphansi komthwalo wangempela (usebenzisa isihloli samabhethri ezimoto esitholakala ezitolo noma i-battery analyser ezinikele) kunokuthembela kuwijethi yevoltheji ye-Driver Station lapho irobhothi linganyakazi.
• Izinga lokushisa libalulekile: Ibhethri elisanda kukhishwa eshaja liyashisa, okukhuphula okwesikhashana ukumelana kwangaphakathi futhi kunciphise isikhathi sokusebenza. Vumela amaphakethe aphole afinyelele ezingeni lokushisa legumbi ngaphambi kokuwafaka enkundleni.

2. Ukulahleka Kukagesi Ezintanjeni Nasekuxhumaneni

Amandla kagesi aphezulu akhulisa yonke i-milliohm yokumelana ezintanjeni zakho. Ukumelana okuncane okungabangeli nkinga ebonakalayo lapho ushayela eduze kwetafula lase-pit kungenza kuphume amavolthi abalulekile ngesikhathi somdlalo.

• Izixhumi ze-Tamiya: Izixhumi zepulasitiki ezimhlophe ezijwayelekile ze-Tamiya ezitholakala kumabhethri amadala zidume kabi ngokuxega kwamaphini nokumelana okuphezulu lapho kuthintana khona. Sebenzisa izixhumi ezijwayelekile ze-Anderson Powerpoles noma izixhumi zangempela ze-XT30 kuyo yonke irobhothi yakho nakuwo wonke amabhethri akho.
• Ukumelana kweswishi: Iswishi enkulu yamandla engu-20A eyisibopho ingaqoqa ukungcola kwekhabhoni noma ukuxega kwemishini ngemva kokusetshenziswa kakhulu, okuletha ukumelana okukhulu. Uma irobhothi lakho liqala phansi lapho lithintwa kancane eduze kweswishi enkulu, lishintshe ngokushesha.
• Ubukhulu nobude bezintambo: Gcina izintambo ezithwala amandla amakhulu phakathi kwebhethri, iswishi, ne-Control Hub zimfushane ngendlela engenzeka usebenzisa izintambo ze-silicone ezingu-14 AWG noma 16 AWG. Gwema izintambo zama-adaptha ezingadingekile.

3. Izixazululo Zesoftware: Ama-Slew Rate Nokulawulwa Kwamandla Kagesi

Ukulungisa kwezobunjiniyela nekagesi kuqinisekisa ukuthi izingxenyekazi zekhompyutha zingamelana namandla kagesi aphakeme kakhulu, kodwa isoftware enhle ivimbela ngokuphelele ukukhuphuka okungadingekile kwamandla kagesi.

Imbangela ejwayelekile ye-brownout ukushintsha ngokuphazima kweso kusuka phambili ngokugcwele (+1.0) kuya emuva ngokugcwele (-1.0) ku-joystick yesilawuli. Lapho imotho ejikelezayo iphoqeleka ukuba ihlehle ngaso leso sikhathi, i-back-EMF ihlangana nevoltheji yomthombo kagesi, idale ukukhuphuka kwamandla kagesi okudlula kude izilinganiso ezijwayelekile zokubambeka.

• Faka i-Slew-Rate Limiter: Nciphisa isivinini sokwamukela imiyalo ye-joystick kukhodi. Esikhundleni sokusebenzisa amandla emotho angu-100% ku-control loop yokuqala, khulisa amandla anqunyiwe kancane kancane phakathi kwamamilisekhondi angu-100 kuya kwangu-200. Abashayeli cishe ngeke baphawule ukubambezeleka, kodwa lokhu kuqeda ukukhuphuka okukhulu kwamandla kagesi.
• Sebenzisa i-RUN_USING_ENCODER ngokuqaphela: Isilawuli se-PID se-velocity esakhelwe ngaphakathi se-FTC SDK sizoyala i-duty cycle engu-100% uma isithiyo sivimbela imotho ekufinyeleleni isivinini esihlosiwe. Uma i-drivetrain yakho ibambeka odongeni lwenkundla, i-PID loop izoqhubeka idonsa amandla aphezulu okubambeka kuze kube yilapho i-hub iba ne-brownout.
• Bheka ivoltheji ye-bus ngesikhathi sangempela: Bhala i-logic yokuphepha ku-teleop loop yakho. Uma controlHub.getBatteryVoltage() yehla ngaphansi kuka-9.5V, nciphisa amandla ezinqubo ezingabalulekile kangako (njengama-roller e-intake noma ama-active outrigger) kuze kube yilapho ivoltheji ibuyela esimweni esifanele.

Uhlu Lokuhlola Kafushane

Ukuqeda ama-brownout kudinga ukuphatha isabelo samandla kagesi njengengxenye ebalulekile yokuklama kunokuba into ecatshangwa ekugcineni. Uma uhlela noma uthuthukisa izingxenyekazi zekhompyutha zeqembu lakho zale sizini, ungathola izintambo zikagesi ezisezingeni lomncintiswano, izinzwa, nezingxenye zesakhiwo nge-sitolo se-Sheen Robotics, noma uhlole izinsiza zethu zokuqeqesha ku-ukwesekwa kwe-FTC kwe-Sheen Robotics.