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Offseason Project: Holonomic Kiwi Drive Robot
A little intro...
1713, and by extension the FTC teams 4093 and 4356, have never experimented in holonomic drive chains before. Because an omni wheel was included in both KOPs for the FTC teams, we decided that offseason would be a great time to experiment with them. Because the wheels are FTC, we'll be using FTC parts for it.
We ordered another wheel (which hasn't arrived yet) and built a frame for kiwi drive that places them 2π/3 (120 deg) around a circle, tangent to the circle. Each wheel will be directly driven by a motor with an encoder.
Every place I've seen Kiwi drive, the 'front' has been located directly between two wheels, that powering them towards each other at the same speed would be forward. Would having the forward be directly opposite that be a problem? (Such that two wheels powered away from each other was forward)
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When all else fails, read the manual.
FRC 1713 K Island Gears 2009, 2010 (Not 2011 due to budget, hopefully 2012!) - Fingerlakes Regional
FTC 4356 The Zip Ties 2010-2011 Season - NNYRC (2010 9th seed).
Last edited by EthanMiller : 03-05-2011 at 10:58.
Reason: Added deg measure.
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I walk through the door, and suddenly the field breaks down. It must be my magnetic personality. - Swan217 [more] 
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