Quote:
Originally Posted by Jeffy
And 51 had backwards dunk hanging ability along with lots of orange polycord and a wrist joint that always appeared "bouyant" in its motion. Did 51 have swerve/ meccanum? I think I saw them do a bit of strafing.
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Neither swerve nor mechanum. The drive system consists of a standard 4-wheel tank steer drive with omni-wheels on all four corners, and a sideways drive module also made of omni-wheels. The system works great and is super easy to drive, but it draws a lot of current when moving diagonally since you have a lot of motors driving at the same time.
The "buoyancy" of the arm (good description, btw) has been the biggest problem with our robot all year. The arm is powered by a window lift motor which has a ridiculous amount of backlash in it. The arm can move through about 15-20 degrees of motion while unpowered just because of the backlash in the motor. That flopping is the one thing that hurt us, and the motor may be replaced with a Banebots + some gearbox for offseason events.