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Cost is therefore the other constraint which has prevented widespread adoption of brushless drive systems.
Brushless motors have been in use for several years as weapon motors, especially in the smaller weight classes.
Hobby R/C motors, the ICBMs, are promising in their power to weight ratio and power to cost ratio, but hobby motor control is not well suited for the task.
Usually created for model airplanes, the controllers are lightly built, “rated” to an inch of the components’ lives using unrealistic methods, and usually do not feature reversing or the ability to maintain torque at low speeds and near-stall conditions, which is where DC motors shine.
Along the configurability axis, hobby equipment has a huge lead on industrial ones for the ability to “mix and match” motors, making them way better suited in principle for combat robots, which are generally bespoke systems not designed around any one particular drive constraint.
Special requirements of drivetrains are the ability to handle inertial loads (recognizing that steady acceleration is necessary instead of forcible commanding a higher drive frequency, for example), rapid reversing, and DC-motor like near-stall behavior, if fully stalled behavior is not possible.