Quote:
Originally Posted by Siri
Can you elaborate more on your module and frame setup, especially for getting over the barrier? I've been drooling all season since your reveal video and am still kicking myself for missing you at Champs.
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We had 4 modules with a CIM mounted in the module (no bevel gear) and a window motor turning. The encoder was mounted as flexibly as possible above the module.
Thinking back on the year, we probably could have gotten away with a three wheel system, but we had such luck with the four wheel swerve last year and 2010 offseason, it was hard to get away from.
We crossed the bump in both directions. Our ball pickup helped us in one direction. There were angled guides on the bottom of the box to lift that end of the robot as it contacted the bump and delrin guides mounted to the frame next to the wheels to make sure the wheels don't take the impact. On the other side, we just had the delrin guides next to the wheels.