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Originally Posted by asid61
1a. Why the custom U-gusset instead of two right-angle gussets on each side?
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The main problem with the right-angle gussets from Vex was that we didn't feel they were quite long enough for supporting the module. The U-gusset is "taller" and therefore the screws can be installed further apart and make the structure significantly more rigid. The U-gusset can still be drilled out by hand if you download the drawing from Vex and paste it onto sheet metal.
Quote:
Originally Posted by asid61
3. Encoder-shaft coupler on the versaplanetary can be removed and replaced with a versaplanetary encoder. This also removes the MA3, so it doesn't cost too much extra.
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We might make that change to the design in the future. The current design doesn't have the VersaPlanetary encoder because we developed the VersaSwerve system before they were released.
Quote:
Originally Posted by asid61
5. The slot for the bearing tensioner for the belt. You already have a tensioner with a WCP cam.  According to SDP-SI's belt calculator you don't need the tensioner to achieve good contact with the 18t pulley anyway; what pushed you to have it? |
The main reason was because Vex didn't have the length of the belt that would work perfectly. The current belt is a little on the long side, and we had to account for that with the tensioner. One size shorter, and the CIM motor would have been too close to the wheel module.
