pic: 6 wheel drive with a suspension

[artdutra04]

Originally Posted by joeweber

The reason we do not drive the wheels straight off the Bainbot shaft is to allow for straight driving. You know that the motors drive faster one direction than the other direction. Using them on helical gears the way we are make the motors go the same direction when the robot is going forward thus the motors are running at the same speed. So when we program for autonomous we will not have any problems with it pulling to the right or left.. Also note that when the robot goes sideways one set of motors will reverse so they will be going the same direction again allowing for straight travel.

Four encoders and a few dozen lines of code are a lot lighter and cheaper than four sets of helical gears.

Especially with our new processor, there should be no problems keeping up with all the data.