pic: GBX-114, Ultralight shifting swerve drive

[asid61]

Originally Posted by Oblarg

11fps is a bit fast for a low gear - you're likely going to run into breaker problems if you get into a pushing match with that if your robot is at the weight limit.

Not sure what I think about pulley setup here. Having multiple belts off of the same CIM is going to make tensioning a bit of a headache if you can only adjust the tension at the CIM. It also looks like you're really not getting much wrap on one of those pulleys - I'd be worried about that, especially with 9mm belts.

I know the low gear is too fast; it will blow the breaker in an extended pushing match. I'm improving this to hold an extra cim so that the code won't have to account for it. Swerve drives don't need to worry about pushing matches if programmed to do so, as they can move their wheels into an X formation to become a wall, or translate to get away from an attacker.

Tensioning is done in two ways: the smaller belt is tensioned simply by moving the cim outwards along a slot. The larger belt is tensioned seperately by moving a pulley outwards, although I'm going to change that to a roller moving inwards to address the wrap issues.
Thanks for the advice!