[DougHogg]

Team 980 learned about the 6-wheel drive system (with middle wheels 3/16" lower) from Team 254 and Team 60. They in turn credited Team 25 with the idea.

This idea was a breakthrough for us. Previously we had to keep gearing down our robot so that we could turn without blowing fuses (especially turning in place). This last season, using 6 wheels, our robot could spin like a top. We used programming to implement a reduced turning speed (with a button to over ride the programming if we had to turn really fast). We used gyros during autonomous, but not when our drivers took over.

In conjunction with Team 716's two-motor gear boxes (non shifting design
using drill and black motors from the Chief Delphi White Papers), our robot
was fast and maneuverable this year.

As it turned out, we also had some luck that the six wheel design
contributed to. Originally we hadn't planned on going up onto the platform
to hang, but then it turned out to be really hard to grab the bar from the
floor. One of our students discovered that we could do a wheelie (by backing up and then quickly going forward) and climb onto the platform which made it possible for us to hang quickly.

We had wanted to direct drive the middle wheels from the gear box, but we
couldn't fit the gearboxes (with drill motors, transmissions and gear boxes) side by side, so we wound up driving all six wheels with chains. It turned out to be very reliable using 1/4" chain. Basically the drill/black motor combination drove all three wheels on each side, so we got full traction although only four wheels were on the ground at any one time.

Sorry I don't have any drive train pictures, but you can see our robot on
our web site at team980.com.

Thank you Teams 254, 60, 716 and 25 (and many other teams who have
helped us) for sharing your ideas. They were a big help!!!