pic: 3061 Huskie Robotics Pre-2015 WCD

[andytoennies]

Originally Posted by Scott Kozutsky

I'm pretty sure this isn't legal per 2014 rules (I don't know if it was supposed to be, besides "change is coming") given that the implied definition of "end" of a bumper is any corner.

4.6.8 R26
BUMPERS must be supported by the structure/frame of the ROBOT (see Figure 4-10). To be considered supported, a
minimum of ½ in. at each end of the BUMPER must be backed by the FRAME PERIMETER. Additionally, any gap
between the backing material and the frame
A. must not be greater than ¼ in. deep, or
B. not more than 8 in. wide.

This would mean that your side bumpers aren't properly supported. The definition may be grey enough to pass at some regionals but definitely not everywhere. Be careful.

http://www.usfirst.org/sites/default...ame_Manual.pdf

Aside from that, you don't need to use shaft collars for attaching encoders. Just drill a hole in any driven axle and shove the shaft of the encoder in there. (http://puu.sh/bSXmC/4694259cf2.jpg) Check the discussion here for more alternatives/experiences: http://www.chiefdelphi.com/media/photos/40864

You're totally right, I had forgotten that the side "corners" of the hexagon would be considered ends. I am working on a quick fix right now, will update when done.

As to the drive encoders, I did not realize that that configuration was possible. I'll try that as well. Thanks for the suggestions.