Drivetrains in Ultimate Ascent

[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.