The Real 217 Robot for 2010

[Mike Copioli]

Originally Posted by 1075guy

I'm still trying to figure out how the nanodrive works... I see 4x IFI traction wheels, and 4 duallie omnis, but they're all inline. I can see something shifting down in the drivetrain when strafing but cant quite make out what it is or how it works... Guess I'll have to wait to see it in person on 217 and 148 come championship.

The traction wheels are each paired with an omni-wheel that is packaged into a module. The Omni wheel axle acts as the axis for selecting between traction or Omni (Omni wheel is fixed, traction wheel travels up and down). The pneumatic cylinders are extended to apply force between the traction wheels and the carpet when additional traction is needed. The center Strafe wheel is also on an actuator to either extend or retract. The strafe wheel is retracted while traction is applied and extended when traction is retracted.