Quote:
Originally Posted by z_beeblebrox
What about arranging the power transmission components like this? (Warning: MS Paint Art): 
That would allow all 2 (or 3) CIMs on each side to drive both wheels and move the omni wheels to the inside. |
This is pretty close to what we will be prototyping in the fall. Though we will have spots for at least 4 CIM motor mounts per side.
I have been thinking of a way to have the CIMs still face towards the outside of the rail yet recess into that space between the modules and distribute power like your drawing. This year we used the space on one side to hold the cRIO while on the other it was just wasted space. The reason I would want the CIMs to face the outside is it would allow the overall rail thickness to be reduced since it wouldn't have to contain the entire CIM body.