Quote:
Originally Posted by peirvine
The only addition I would make to your drive base would be the addition of a strafe wheel in the center of your robot. You had the right idea with the butterfly drive, its pretty much a Jump Drive, but in order to make better use of your omni's I would have put a strafe wheel in the middle, otherwise you would have been better off just building a multi speed gearbox. Don't get me wrong, I love your butterfly concept, in fact, our team my try it out this summer, but you need to have a strafe wheel if you have omni's.
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I think when 148 does this they actually gear both wheels to be the same speed, so they can set front to traction and rear to omni, or vice versa. This allows them to move their center of rotation so they can slide around easier. Watching them drift around the pyramid was really cool, and I had multiple kids ask me how they did that. I wish JVN's blog was still up so I could show them more.
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All statements made are my own and not the feelings of any of my affiliated teams.
Teams 1510 and 2898 - Student 2010-2012
Team 4488 - Mentor 2013-2016
Co-developer of
RobotDotNet, a .NET port of the WPILib.