[SgtMillhouse648]

Originally Posted by Tottanka

Wouldn't it be easier and better to have 2 gears, with 2 CIMs in each. Each Gearbox controls a pair of wheels?
If im wrong, what do you think are the advantages of a 4 CIMs-in-one-gear?

648 did the two gearbox setup this year, and had some power to spare, however , no reduction was made through gears. The twin small CIMs came up through the mounting plate with a small pulley on each. Then a timing belt serpentined throughout the pair and one other pulley gave power to each of the individual crab modules. This pulley gave power to a pair of bevel gears, then went through a final reduction through a chain drive to the wheels, giving us a final reduction of 9:1. To be honest however, I was incredibly impressed by the setup on the 118 bot. how many motors did you guys use in that one, If I remember right, you had two small CIMS, to big CIMs, and the FPs? One thing eluded me however, why did you use two pots to tell the angle of the wheels? It seems to me it would have been quicker and easier to use something like this Miniature Absolute Magnetic
Shaft Encoder After the season was over, we wanted to see just how powerful the swerve drive was, so one of the biggest/strongest kids on the team tried to shove the robot around, and the robot ended up pushing him backwards without a problem.
Thanks
Malhon