Quote:
Originally Posted by ehfeinberg
Could you please explain your logic for having the three omni wheels in the center of the frame if you are already using mecanum wheels?
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As others noted, we use the omniwheels as follow wheels to give us true on-field translation information and a gyro to track orientation. This makes our field-oriented drive work.
Quote:
Originally Posted by AllenGregoryIV
This is pretty awesome, do you catapult perpendicular to your traction wheels and collect from both the front and back?
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Yes, that's exactly it.
Quote:
Originally Posted by AllenGregoryIV
Those look like 4 775s to me but maybe those are 550s, and there is another VP up in the center that looks like it is powering a cho-cho double cam.
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Raising and lowering each of the intake systems is handled by 2 775 motors. The middle mechanism is the over-center linkage for cocking and releasing the catapult. People with think it's derivative, but I don't care -- I've wanted to use something like that for ages and we had to abandon our cool Geneva drive last season.
Quote:
Originally Posted by TheMadCADer
How long is the wheelbase for the traction wheels? Do you want to be able to turn on them, or is it intended to not be able to turn?
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The wheelbase is about 14"; it's quite short and thus, we can turn on them. In our past experience, we did not spend a lot of time on the traction wheels. They're used for brief moments of added oomph and to resist sideways forces.