pic: FRC488 - Octocanum Drive Rendering

[Madison]

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[ehfeinberg]

Could you please explain your logic for having the three omni wheels in the center of the frame if you are already using mecanum wheels?

[AllenGregoryIV]

This is pretty awesome, do you catapult perpendicular to your traction wheels and collect from both the front and back?

[z_beeblebrox]

Originally Posted by ehfeinberg

Could you please explain your logic for having the three omni wheels in the center of the frame if you are already using mecanum wheels?

Follower wheels for distance and speed measurement?

[Chris is me]

Originally Posted by ehfeinberg

Could you please explain your logic for having the three omni wheels in the center of the frame if you are already using mecanum wheels?

Unpowered follower wheels allow the robot to know its true position and orientation at all times, regardless of slip in the drivetrain.

Beautiful drive base, and nice catcher? Excited to see the rest of it.

[ehfeinberg]

Originally Posted by Chris is me

Unpowered follower wheels allow the robot to know its true position and orientation at all times, regardless of slip in the drivetrain.

Oh that makes sense. So the 2 550 motors are not attached to the outside omni wheels?

[Akash Rastogi]

Originally Posted by ehfeinberg

Oh that makes sense. So the 2 550 motors are not attached to the outside omni wheels?

Looks like those might run the intakes?

[AllenGregoryIV]

Originally Posted by Akash Rastogi

Looks like those might run the intakes?

Those look like 4 775s to me but maybe those are 550s, and there is another VP up in the center that looks like it is powering a cho-cho double cam.

[TheMadCADer]

How long is the wheelbase for the traction wheels? Do you want to be able to turn on them, or is it intended to not be able to turn?

[Madison]

Originally Posted by ehfeinberg

Could you please explain your logic for having the three omni wheels in the center of the frame if you are already using mecanum wheels?

As others noted, we use the omniwheels as follow wheels to give us true on-field translation information and a gyro to track orientation. This makes our field-oriented drive work.

Originally Posted by AllenGregoryIV

This is pretty awesome, do you catapult perpendicular to your traction wheels and collect from both the front and back?

Yes, that's exactly it.

Originally Posted by AllenGregoryIV

Those look like 4 775s to me but maybe those are 550s, and there is another VP up in the center that looks like it is powering a cho-cho double cam.

Raising and lowering each of the intake systems is handled by 2 775 motors. The middle mechanism is the over-center linkage for cocking and releasing the catapult. People with think it's derivative, but I don't care -- I've wanted to use something like that for ages and we had to abandon our cool Geneva drive last season.

Originally Posted by TheMadCADer

How long is the wheelbase for the traction wheels? Do you want to be able to turn on them, or is it intended to not be able to turn?

The wheelbase is about 14"; it's quite short and thus, we can turn on them. In our past experience, we did not spend a lot of time on the traction wheels. They're used for brief moments of added oomph and to resist sideways forces.

[AlecMataloni]

This is exactly the robot I would build if I were still competing. Awesome work!

[AllenGregoryIV]

Can everyone post teasers that are like this, you are actually able to decode what a team is doing from it.

[Michael Corsetto]

Originally Posted by AllenGregoryIV

Can everyone post teasers that are like this, you are actually able to decode what a team is doing from it.

Agreed, this robot looks like an incredible machine. Very elegant and low low low

-Mike

[Mark Sheridan]

Very cool. Where did you get those follower omni wheels from?

[XaulZan11]

Do you need both intake arms down to shoot or do you have enough clearance?