pic: FRC488 Completed Drive Train

[Madison]

Originally Posted by Matt H.

How does this drive train incorporate this years mandatory bumpers?

We're planning on bumpers sitting between 3.5" and 8.5" from the floor -- and as such they land well above everything shown here except the wheels and motors. The bumpers, as a result, will be mounted to the super structure and spaced out beyond the wheels.

Originally Posted by billbo911

Very nicely executed!
I was hoping to see the frame and wheel mounts you had up on CD earlier. That design really intrigued me. Either way, this looks really nice.

I must comment on the amount of chain wrap on the drive sprocket. With only this picture to judge by, I would say it looks a little suspect. I would be concerned about slippage under heavy load. If your testing proves otherwise, then you did a great job. Thanks for sharing.

We'll be adding an additional idler on the battery side of the motors to get a bit more chain wrap. Chain skips under high load using the default code, but not with our modified code that dampens the response during rapid input changes. Still, it's better to be safe than sorry, and the new idlers will go in as soon as we finish work mounting the structure.