Team 2996 Offseason Octocanum Project

[Liquid_Science]

https://drive.google.com/open?id=0B3...Wx3YkM2SVVXcVk
https://drive.google.com/open?id=0B3...HhoZEJYMVRGeFE
Team 2996's first octocanum prototype! I was inspired by team 4265 last year with their beautiful chassis and wanted to create our own octocanum drive that might prove useful.

CAD: All the auto desk inventor parts are in the link below. There are also most of the imported components as well, with the exception of the Vex 18T timing belt pulley that goes on the inside of the modulus (there is a clear space). For those of you running a different cad program, there is a completed step file of the chassis as well.
*Note: The electronics in the CAD are more for show then anything else. Its no where near the layout we ended up going with.
Full CAD:
https://drive.google.com/open?id=0B3...jZWMHFGZEViMzg

Design Notes:
-The inner chassis piece is designed to be used with either a tough box mini or a Vex Pro ball shifting gearbox. Both sides of the piece have the appropriate holes.
-The belts used are 70T Vex 9mm belt; pulleys are 18T Vex timing pulleys.
-The pistons used are bimba FS-171-1N. They have just enough actuation to switch between the two types of wheels. This can be changed with the size of the piston, and some slight modifications to the chassis.
-Most importantly, we managed to get the weight to just around 54lbs including all the electronics, pneumatic, ect.

Just as a side note: If any team has a similar design, we need some help coding this thing and don't really know where to start.

I am super excited for this project, and welcome any questions, comments, and critiques! Also, this is my first time posting to Chief Delphi, so if something does not work, let me know and ill try to fix it.