Quote:
Originally posted by Ian W.
well, michael designed us a multi motor drive train, and it's still kicking (well, if the robot was put back together). maybe i can get a pic of it later today. i know that we had a small gear on the chiphua motor shaft, and then a really big one on the drill motor. they don't spin at exactly the same speed, but it's made so that the chiphua will just use it's power to time it correctly. then, we used the drill motor transmission, set to high (i think), and used the shaft on that to drive wheels/treads. i know that's not an extremely detailed explination, but i'm a programmer  .
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Erm, that's it, pretty much.
We coupled the Chiaphua and the Drills (in high) together. Gear shifting was done by the 'antitransmission,' so the whole mechanism was really simple. I don't have any good pictures, though.
If I recall correctly, the ratio from Chiaphua to Drill output was 1:5.33 or so (or, maybe 5.33:1...I was on vacation, so my brain is off). . . it was close enough for our needs.
The real key to the awesomeness embedded in the drivetrain was the antitransmission and belting.