Thanks for all replies
Quote:
Originally Posted by Ari423
1. It looks like the wheels are protruding outside of the frame perimeter (assuming there would not be an additional superstructure to increase the frame perimeter). According to 2016 rules, that would be an illegal starting configuration.
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If we did try and use something like this next year's game we would definitely add a structure to extend the perimeter if bumpers are needed for the game. Which somewhere it was mentioned that bumper mounts were not included in the KOP drivetrain this year.
Quote:
Originally Posted by Ari423
2. Right now when driving straight forwards or sideways you only have 2 motors running at a time, which is rather inefficient. Combine this with the fact that you're using omni wheels means you will get pushed around like nobody's business. If you turn each module 45* so they are forming an O around the chassis, when moving forward you will have 4 wheels providing sqrt(2)/2 of force for a total of 2*sqrt(2) of force, effectively increasing your force by sqrt(2). This should make your drivetrain even faster when going straight forward or sideways and make it slightly better in a pushing match (though omnis are notorious for losing pushing matches).
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We had a whole discussion on which direction is fastest with this set-up and if speed was an issue we would definitely either make one of the corners the forward direction for the robot or do the 45 degree angle thing.
Quote:
Originally Posted by roboruler
This is a terrible style of drivetrain to use in any season( even in 2015 were it is unnecessary)
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Just curious if you think all holonomic drivetrains are terrible or just omni-wheels ones, or just because of the way we have ours attached or placed on the frame. If you could clarify, that would be helpful for us.