Team 1658 prototype flying inverse differential(gyro-encabulator) bi-swerve

[sanelss]

Originally Posted by IKE

Cool prototype. The long unsupported chain spans may become problematic. Chains in that config like to derail. IVTs are very cool. Be mindful of 0 out put speed as some designs end up throwing a lot of power into the gearbox and cause damage. I am not exactly sure how your set up is configured, but would love to see a diagram.

we already added one set of chain stabilizers/guides on the long runs which seem to have addressed floppy chain there but may need additional support on the diagonal runs. We will address issues as they arise. There will be several modes of operation with this design. A "direct" mode where the motors are always driven in the same direction and we just vary the pwm/speed(depending on control mode) going to the coupled motors. This mode won't give us any advantage of the IVT but good to have as a fallback. An "efficient" mode where we run the motors at their peak efficiency instead of all out in opposite directions in an attempt to conserve power, and a "power" mode where we go full tilt and will indeed dump all available power into it. in 0 output we just completely turn the motors off though. It's certainly still in the developmental and non field tested but we're doing what we can to get there. Hopefully before the new season starts so we can see if it's even worth implementing on a real competition bot.