4159's drivebase

[DarkRune]

This year we plan on using octocanum, so here's the drive train moving around a bit and shifting, there will be more to come shortly.
https://www.youtube.com/watch?v=nYbK57DupOU
Dylan Baker-Flynn
Team 4159

[asid61]

Why octocanum over just mecanum or traction?
Looks good. Should do some loaded tests just to be sure at some point.

[Woetie]

Cool design guys only im wondering why you picked such a complex drivetrain for this years game beside the fact that its awesome ofcource.

[DarkRune]

Using the traction wheels for going over the ramp since we aren't confident the mecanum will be able to handle this at an angle since not all the wheels will be touching the ground, but we also want side to side movement for lining up the totes. And we would like to be able to deploy the back two traction wheels while on the ramp so we can be more level while placing the stack of totes onto the platform.
http://imgur.com/1isBsH4
If anyone was curious, these are the wheel plates we are using. 4 plates are 1/4" aluminum going on the part closest to the robot where the piston attaches, and 4 plates are 1/8" going on the outside of the wheels.

[DarkRune]

Well the drive frame is pretty much done, here is a practice clip.
https://www.youtube.com/watch?v=oSJC9tgembA
Handles pretty well, we have the holonomic parts working, also features a nice drift. We drive mecanum with a split arcade and traction using tank. Pretty fun to use, feel free to ask any questions.

[asid61]

Originally Posted by DarkRune

Well the drive frame is pretty much done, here is a practice clip.
https://www.youtube.com/watch?v=oSJC9tgembA
Handles pretty well, we have the holonomic parts working, also features a nice drift. We drive mecanum with a split arcade and traction using tank. Pretty fun to use, feel free to ask any questions.

Neato! That strafing looks good. There's a bit of rocking due to the suspension effect when you're in traction mode it looks like. Do you think that's going to do anything bad?

[DarkRune]

Originally Posted by asid61

Neato! That strafing looks good. There's a bit of rocking due to the suspension effect when you're in traction mode it looks like. Do you think that's going to do anything bad?

We're actually hoping that's going to help us out on the scoring platform, since we stack internally it should help keep our robot level while we deposit a stack of totes. Hopefully the front wheels will be deployed on the ramp, but the weight distribution will slightly lower them so our robot is parallel with the ground.