Team Titanium 1986 Omnidirectional Drivebase
 

Some video of early testing (1/19) of our omnidirectional drivebase for this season.

http://youtu.be/ohROrDyv0Gw

Re: Team Titanium 1986 Omnidirectional Drivebase
 

Looks fantastic! Any details or do we have to wait until your reveal?

Re: Team Titanium 1986 Omnidirectional Drivebase
 

Not Swerve(!) and very well executed - nice!

Re: Team Titanium 1986 Omnidirectional Drivebase
 

I don't think it's swerve. You can see either an omni or mecanum wheel at 0:25. I would guess some type of hybrid drive.

Re: Team Titanium 1986 Omnidirectional Drivebase
 

The slightly slower sideways speed would lead me to the same conclusion.

Re: Team Titanium 1986 Omnidirectional Drivebase
 

It looks like they have 4 wheels on the left and right, then 2 wheels on the front and back. They all appear to be omni wheels. Which means that it has a total of 12 wheels on it. Pause it at around 1:21-1:22 to see them.

Re: Team Titanium 1986 Omnidirectional Drivebase
 

The sound of the drivebase as it moves in different directions gives a good indication that the forward/back and side/side motions are independent, so looks like omni wheels. Based on freeze frames, goodness... 12 wheels?

My big questions: Any tricks needed to keep all of the driving wheels planted evenly? Surely you have solutions for dealing with the bump. And, what kind of driver input did you guys settle on?

Seems to work well! Year of the omnidirectional robots.

Re: Team Titanium 1986 Omnidirectional Drivebase
 

I would love to see this bot with a Halo-AR driver interface.

Re: Team Titanium 1986 Omnidirectional Drivebase
 

I had to look up what AR stood for. Finally came to Auto Rotate instead of Assault Rifle. :) That is an interesting one joystick method for field-centric control. If I understand it correctly it would always adjust to point the robot's intake in whatever direction the robot is moving. Not a solution for every situation, but a viable option for some.

Right now we are trying to think through how using a robot-centric camera to aid the driver in blind areas of the field would mesh with a field-centric driver input. Whatever we decide our drivers are eager to log the hours needed to master the controls. It's been years (2008, 2010) since we've done an omni-directional drive-train, and this thing is just fun to drive.

Re: Team Titanium 1986 Omnidirectional Drivebase
 

Yes.

Oh I agree. It could be just one of several button-selectable modes.

I can see that from the video. It's what made me think of auto rotate, imagining that bot snaking its way smoothly and effortlessly around those obstacles.

Re: Team Titanium 1986 Omnidirectional Drivebase
 

Me too.

Re: Team Titanium 1986 Omnidirectional Drivebase
 

Lookin' good, guys! Can't wait to see the rest of the green machine at Arkansas!

Re: Team Titanium 1986 Omnidirectional Drivebase
 

It definitely sounds like "forward" is on CIMs and "sideways" is on a weaker motor (Bag? BB?) Either way, the thing looks hella smooth to drive and I'm interested to figure out a way to see it. (Sad that y'all aren't competing in KC :( )

Also, love the use of the main battery plus 4 other batteries for ballast.

Re: Team Titanium 1986 Omnidirectional Drivebase
 

This configuration is called the Orlando Special (technically it's the Quadruple Orlando Special as 4 extra batteries are being used).

Re: Team Titanium 1986 Omnidirectional Drivebase
 

Took me a minute. Too soon?