pic: Butterfly Drive Concept

[hectorcastillo]

Originally Posted by TheHolyHades1

Ah, gotcha. While I can see how that design will make it so that only one of the two wheels is on the ground when turning, did you guys have a mechanism in place to balance the module when the motor wasn't turning (some sort of spring return, maybe?), or was that not necessary to keep both wheels off the ground?

I also see that your design from this year used a single CIM motor on the slide - what lateral speed were you guys capable of with that?

Although we thought about having some way to return the module to its level position (mechanical or code), we found that it was necessary. In addition, we found that we needed to keep the module from tilting with gravity to reduce "hopping", basically when the module hits the ground but can't get traction and causes the whole robot to jump up a little. We solved this problem with a ramp up in the code and a friction plate that we would tighten in place made out of a VersaHub and gum rubber.

In response to the belt breaking I had thought about that which is why that is actually #25 chain. And yes decadrive is the proper name (thank you I couldn't remember what it was called).

Ah yes, after taking a closer look, I saw that it's chain. Haha sorry about that