Drivetrains in Ultimate Ascent

[JohnSchneider]

Originally Posted by apples000

Our mecanum wheels have encoders for speed PID control, and a gyro to correct for any rotational drift. Also, we have "suspension" modules on our wheels so that they have equal force pushing down. What we've seen is that if somebody is pushing us, we have enough power to slide away, and there's enough room for our experienced driver to drive around them. We've gotten pretty good at avoiding defense.

You have enough power to push out of pins?

[apples000]

We don't have enough power to push out of pins, but from what we've seen, for our level of competitiveness, we don't really need to. We've built shifting swerve modules (and spent way too much time designing the shifting part), and found that when we were playing, our drivers never really had to worry about being pinned down, because they could drive quickly away from pushing teams. Our goal is to be a fast robot. Our strategy is to drive over to the other side of the field, get in the loading station, fire feeder station shots until we get defended, the zip over the the pyramid and climb for 30 pts/dump. In order to get a great climber that we felt was "safe" enough, we made some parts out of steel. To line up with the pyramid, we need to have onmidirectional drive, so mecanum wheels were our choice.

[bardd]

Originally Posted by animenerdjohn

You have enough power to push out of pins?

They have about G31 power to push out of pins.