Quote:
Originally Posted by ollien
A) What do you mean by the "weighted" wheel? Do you mean the dropped wheels?
B) What do you mean by preloading chain? How would this help? You said something about moving the robot forward and then back, but I don't understand how this would help.
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I'll hop in and answer, but I'm not the most qualified in the subjects, so I welcome any correction if I say something incorrect.
Weighted wheels would be the wheels actually contacting the ground when your robot drives in the direction it's about to go. For the vast majority of 6-wheel drop centers, this will be your back wheels due to the torquing of the wheels. For 8-wheelers, it kinda depends on your specific wheel placement whether the robot is on its center sets or back sets of wheels.
As for preloading this chain, they're mostly talking about removing any slack from the side of the chain that is about to be driving the robot. This prevents much shock loading from being put on your chain runs right as you start auto or teleop. And if you consider pushing the robot to be the directional opposite of the robot driving itself, pulling the robot "pre-loads" the chains so they're ready to go when you start accelerating.