pic: Shoebox Module Gearing
 

Re: pic: Shoebox Module Gearing
 

The shifter components surely are implemented quite neatly and overall it's well executed. However, I do have to ask how you see having two speeds for each wheel is necessary, especially the weight sacrifices that have to be made for having 4 separate shifting modules. From what i've seen, it's pretty much always preferred to have a high speed for the omnis, and a low speed for the tractions. So I have to ask why you wouldn't make each wheel a fix speed at lets say, 12fps for the omni and 7 fps for the traction.

Re: pic: Shoebox Module Gearing
 

True, its pretty heavy but we were trying to get the most torque we could out of the system before we would start spinning the wheels. Which in this application is somewhere around 30 ft-lbs of torque for the low gear, traction. On the high end we can have 13+ft/sec. The gearing is not for reaching the approprite speed more of reaching the approprite torque on the low end. Seeing as how long it has taken us to finally get parts made its hightly unlikely this design will be implemented this year. We will stick to crab or tank.