Thread: ball shifter vs wcp ds
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Unread 20-12-2014, 11:41
Arpan Arpan is offline
Olin class of 2019
FRC #3061 (Huskie Robotics)
Team Role: Alumni
  
Join Date: Feb 2012
Rookie Year: 2011
Location: Naperville
Posts: 169
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Re: ball shifter vs wcp ds
Hi! 3061 built a belt-driven west coast drive last year around the WCP-DS 3 cim shifters, so I'll try to answer some of your questions.

Using your gearbox to direct drive the middle wheel, and running chains/belts to live axles at the ends of the robot, is part of what makes a west coast drive a west coast drive.

Our experience with the WCP ds boxes was very positive. You have to locktite every bolt to ensure that the vibration does not loosen them. We failed to do that and one of our gearboxes threw a CIM. We were not able to replace the damaged gears but they still ran fantastic for 2 competitions and hours of offseason drive.

There are a few differences between a 2 and 3-cim. 3-cim drives have to be careful not to brownout the control system or blow the main breaker at high speeds. They accelerate much faster for a given robot weight, and allow for a faster top speed. I'd reccomend gearing for about 8 and 15 fps in a 3-cim (higher than 15 is ok for high speed if you have current draw limiting software). 2-cims are a safer option- they are very hard to mess up.
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