paper: Killer Bees 2011 Robot CAD model

[BJC]

Originally Posted by topgun

The three motor gearboxes show two CIMS, a FP through a P60, plus a FP through a Cimulator.

What motors did you actually use for the drivetrain?

I really like the drivetrain concept of articulating the rear wheels, very innovative.

With the speed of this year's game, did the drivers find themselves switching much between the high/low on the two speed gearbox? Did they use the low gear for placing the tubes or only when in a pushing match?

I believe I can help.

We used only 4 CIMs on our drivetrain because we were very close on weight. Later when we did have the weight, we decided not to put them in simply because we didn't feel we needed them and didn't want to rip the gearboxes apart.

Thank you, we found it to have lots of benifits that were not really obvious to a spectators eye: straight tracking in auto, eliminating over-steering (our driver loved this), making ourselves very difficult to push, pushing through defense, being able to turn on a dime, and very low maintaince.

We shifted 13fps and 6fps. This sequence was automated along with the wheel articulation. Eventually, however, it was made so as to only shift up because on hard stops it would shift down and buck the robot forwards. I'm not sure if our driver hung tubes in low or high gear. However, I do know that there was a function which made the drivetrain a bit more "sloshy" when the elevator was raised all the way. This helped considerably with lining up to the pegs.