paper: FIRST Drive Trains and Structures

[=Martin=Taylor=]

This is a great pp!

But I would say that maccanum is almost as bad a system for frc as 2 wheels (for the exact same reasons that you gave for 2 wheel systems being bad).


Fred Sayre:

Worst drivetrain in FIRST history eh? You obviously arn't acquainted with frc100's 2005 drivetrain (actually the whole robot was terrible )

We tried to build a swerve drive that year:
-we literally glued the gears into the transmissions
-the flanged bearings were put in backwards so that they immediately fell out!
-Once the gears came loose we used bent nails to keep them in!
-And then the gears stripped themselves into perfect circles!
-We used ropes instead of chains (I'm not joking)!
-Oh yes! And it scored 1 tetra all season!

Well that’s all behind us now. We've learned a lot from our failures, and I owe our greatest achievements to our lowest mistakes