pic: Four Speed Three CIM Gearbox

[AdamHeard]

Originally Posted by GeeTwo

I'm still wondering what was up with that central gearbox that was later distributed. It appeared to be an essentially 1:1 gearbox which brought four CIMs together onto a single shaft, which was then redistributed around on four separate swerve shafts. It seems to me that it would have been easier and more efficient to put a CIM on each swerve shaft, but to include a sprocket which tied the four shafts to the same speed to allow redistribution of energy as needed (e.g. as loading increased on two wheels due to acceleration away from them).

They combined it all into a single shifting gearbox (reusing a Dewalt drill planetary). They also added 2 FP motors, so distributing it would've been harder.