Quote:
Originally Posted by GeeTwo
What is the vertical travel at the wheel axle? Would it let you go onto the scoring platform at an angle without banging things up too badly?
We're doing a similar project, but we're mounting our strafe wheel pneumatically, so we can lift it when we don't need to strafe or when we need to go over an obstruction. Pics to follow.
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Travel was only around an 1/8 or so after we dialed in our downforce. Since the wheel was offset towards one end, we still had control of the robot even if the straffe wheel was holding the other two off the ground. I don't think our drivetrain held us back really even when we were forced to go back to open loop due to gyro issues.
I like the pneumatic approach better than adjustable spring. We'd lose a lot of pushing power if we used the spring approach in a year with defense as it took more downforce on the straffe wheel than was originally expected for good straffing performance.
I also like how the Robowranglers did their double center wheel in 2014. I we do h-drive again, I'd strongly consider this approach.