[JVN]

Team 229 - Clarkson University "Division by Zero"
This is our teams 5th year.

Motors-
2x Drill, 2x Chiaphua

Wheels-
4x 6" skyway wheels, turned down and coated with "Kingman
Tread" (1.2 mu)

No dead wheels...

Chain-
Serpentine - 3/8" Chain

Tranny-
2x All-Custom, 2-speed, 2-motor, shift on the fly (pin style).

Steering-
Standard Tank Steering...

Sensors-
Custom Current Sensors measure Drive-Motor current draw. Protects us from popping breakers. 2x IR Wheels allow us to calculate wheel speed and robot position (vector addition).

Successes-
We felt the system was fairly successful. This was our team's first attempt at a custom gearbox, and we certainly aimed high. (A combiner, AND a shifter in our first try... what were we thinking!?!?!) With a lot of love, and some profanity we managed to get it running smoothly, and shifting like a champ.

Problems- Mostly mechanical failures... we had to work the bugs out of our system...
We were torsion fracturing 3/8" dia. steel output shafts. We ended up going to a 1/2" dia. shaft for nationals, and the problem went away.
We also had some problems with our idler system throwing chain. We managed to work the bugs out eventually.
The large loads involved destroyed some of the plastic skyway wheel-hubs we were using... we had to replace a few of those...

Next Year...Well...
We've got a shifting - swerve drive about half designed. (Swerve-ZER0)
We've got a 6-wheel omni-drive (like 343 - 2002) designed up.
We're playing with improving out current drivetrain. (Generation2)
Time will tell...
Regardless of the game, you'll probably see our Gen2.5 gearboxes on the robot in one form or another...


You might even see us playing around with some new technology at off-season comps...