Quote:
Originally Posted by tickspe15
Most teams that run PTO's do not disengage the drivetrain when the PTO is engaged. You can get around disengaging the drive by either lifting the wheels off the ground before engaging the PTO(see 254 or 118*in reveal video* 2013), or using the drivetrain to assist the action being performed by the PTO(see 254 or 1114 in 2010)
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In the case of both 254's and 1114's 2010 robots, the PTO did disengage the wheels. With 254 this is evident when you watch the robot extend its arm - it has to stop driving to unfold the hanging arm. I don't know where you're getting this information from. There are serious risks to trying to align something when the PTO is moving you away from your target. You almost never want your wheels engaged while your PTO is doing something else.
In 2013, if 254's PTO didn't disengage its wheels, that's just because the wheels had already left the ground at that point, so the feature wasn't necessary. This is unique to the 2013 hanging task.