pic: Ira's Senior Project

[IraJason]

Arefin, you would be right in assuming there are only 1 CIM driving each gearbox. I decided that this thing was not really going to be doing much heavy lifting, so I put 1 CIM on each side and left access for a second motor open.

I'm still hoping to put something up front, which would be able to counter the weight that's in the back. This thing is definitely back heavy as it is right now. I'm also leaving it open for my team to use it as a base for testing out future ideas.

The sprockets on the wheels are the same as on the gearbox, which I believe are the 15 tooth sprockets from Andy Mark, so the output shaft to the wheels are at 1:1. I calculated the speed on this, and it came out to about 3.63 ft/s. No where near the speeds that some FRC robots get to, but for my purposes it will probably be plenty fast.

Code should be loaded up today to get it running, and I'll probably post another picture of that process later today.

And lastly, never underestimate the power of extruded aluminum. It may be a bit heavy, but it's so easy to work with. Pretty much all the metal on this robot is 1in. square 80/20. Our team has never had any problems with it, and both of our robots so far have been made out of extrused aluminum, and they have both taken quite a beating.