Holonomic drive train and field-based control

[Dan Petrovic]

Originally Posted by dmlawrence

We're considering using a holonomic drive for the upcoming season. We have a few questions for any teams that have done this in the past:

What is the approximate cost of the materials needed?
How significant is the reduction in pushing power?
What are the (dis)advantages of field-based control?
Overall, is it worth it?

Thanks,
David

Team 1751

1) it depends on where you're getting your parts.
We bought 4 56mm Banebots transmissions with encoders ~ 400 dollars.
AndyMark Mecanum Wheel set ~ 400 dollars.
You don't need to use the encoders so that would cut it down to a total of 600 dollars.

2) You wont be pushing many people, unless they have just as little traction as you. The omni/mecanum wheels have so little traction compared to today's standards.

3) Advantages: It seems more intuitive, allows for the maneuver that defines 'holonomic': Ability to rotate and translate simultaniously. Easier on the driver when robot is backwards
Disadvantages: Takes getting used to, natural bouncing of the robot due to omni/mecanum wheels may cause the gyro to do funky things

4) Drive systems will always be based on the game. In a game like last year where there is the potential for robots to be built that are unable to do anything but build until the end (ramps) I wouldn't suggest it.