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Unread 24-04-2003, 09:10
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Josh Hambright Josh Hambright is offline
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Crab drive is a challenge. Wildstang has been doing it for years and makes it look really easy!

our team has tried it 2 times. only one was sucessful.

Our first time being our second year. We had 2fp and 2 drill on the drive part, and then we had the window motor turning the all the wheels at the same time. There was a big chain that went around the whole robot connecting all the wheels so they all turned together.

Last year. We had a bit of a more complicated system. All 4 wheels were independant. The front modules had the Chip motors, and the back had the drill and the fisherprice. They were turned by globe and window motors. Each 'module' was a small tank thread with pully stock and pully on it. There was a pneumatic on each one so that it could go down so it was flat to the ground for mega pushing power or come up so that it was in crabing mode to turn easier. Well the turning of the modules wasn't working at the first regional so we eventualy just went to having the front wheels and the back wheels turning independantly. That didn't work real well either so we locked it into tank drive. Eventualy we gave up post season, and took out the whole system and replaced it with tank drive and casters.

As far as controls go. We had a button the first year so that you could push the button on the joystick and go into crab mode. Where ever you pointed the right joystick it would orient the wheels in that direction and go forward. It had 'zones' set up so that if you pointed it from back to front it would find the shortest route to rotate the wheels there. and would also make sure it wasn't twisting more then 360 in one direction ever so that it wouldn't twist up the wires going to the motors and such. If you let the button up you just had a normal 2 joystick tank steering system. It was really nice.

Last years controls we insane. And never really worked. So i'm not gonna get into em.


Its not an easy system to do without alot of thinking and planning ahead of time. I think that penn made a pretty good crab system once if you want to look into that.
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Last edited by Josh Hambright : 24-04-2003 at 09:48.
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