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Re: Gear Ratios
First, I would reccomend being cautious when designing a system to be used in a game we havn't seen yet. There may be obstacles on the field that a 4" wheel cannot pass (like the steps in '04). Additionally, you may find that, depending on the field size/shape, you may desire a different speed/torque output than you were previously planning. You may want to use motors that would be allocated to the drive motors, or the steering motors elsewhere on the robot, like the manipulator. Also, I'd be wary about using a high traction wheel in a swerve drive system. The very nature of the system recquires you to counter-act the traction of your wheels in order to be able to turn, so you may wear down the tread relatively quickly, and will need more power to turn the wheels than when using a lower traction design.
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