How to turn better with four wheel?

Originally Posted by Bryscus

What's keeping you from REMOVING 2 wheels - you know, segway style?

Gravity. Friction. The usual, though this does give me an idea:

Dean Kamen created the 2 wheeled segway.

Team 256 will now invent the 1 wheel segway! With 3000 gyroscopes and over 6 lines of code!

[KrazyCarl92]

Originally Posted by SuperNerd256

Is there a way to turn better without adding an extra wheel on a wide chassis, or without changing to omni wheels? We would be doing this with 4 wheels, not 8, however.

That's interesting...we've had a 4 wheel drive robot at 119.9 pounds before on 6 inch andymark plaction wheels with no problems turning...are you using 4 CIMs in you're drivetrain? If not, this extra torque could aid in turning.

Originally Posted by KrazyCarl92

That's interesting...we've had a 4 wheel drive robot at 119.9 pounds before on 6 inch andymark plaction wheels with no problems turning...are you using 4 CIMs in you're drivetrain? If not, this extra torque could aid in turning.

We are using all 4 CIMs. We actually aren't experiencing problems since we haven't tested yet (Testing tomorrow, can't wait! ), however we wanted to know if there was anything we could do to prevent any problems.

[KrazyCarl92]

Originally Posted by SuperNerd256

We are using all 4 CIMs. We actually aren't experiencing problems since we haven't tested yet (Testing tomorrow, can't wait! ), however we wanted to know if there was anything we could do to prevent any problems.

Ah, then I'd bet you'd be fine! A 6 wheel drive narrow chassis breaks up the wheel base into 2, 28 x 19 rectangles (roughly), which is a ratio of 1.47:1. With a wide chassis, you have one wheel base that is a rectangle of 38 x 28 (roughly), which is a ratio of 1.36:1. Now short of vector analysis, that's easy math that can show you the turning abilities should be somewhat similar; don't expect any major changes.

Originally Posted by KrazyCarl92

Ah, then I'd bet you'd be fine! A 6 wheel drive narrow chassis breaks up the wheel base into 2, 28 x 19 rectangles (roughly), which is a ratio of 1.47:1. With a wide chassis, you have one wheel base that is a rectangle of 38 x 28 (roughly), which is a ratio of 1.36:1. Now short of vector analysis, that's easy math that can show you the turning abilities should be somewhat similar; don't expect any major changes.

Thanks!

[WarriorRobotics]

Originally Posted by KrazyCarl92

That's interesting...we've had a 4 wheel drive robot at 119.9 pounds before on 6 inch andymark plaction wheels with no problems turning...are you using 4 CIMs in you're drivetrain? If not, this extra torque could aid in turning.

Really now? Anything you had to do to get it to work like that? We're currently using 4 CIMs and our robot can't turn.

[Tristan Lall]

This may be relevant to your interests. (Look at the diagram, then at the final equations; it's pretty straightforward.)