30-07-2014 22:12

Re: pic: Butterfly Drive 2169 Style

Out of curiosity, how did the butterfly drive work? Did you just rotate the angle of the omni wheel where in on position the traction wheels touched the floor and in the other the omnis were perpendicular with the ground? Or did you somehow manipulate both the traction and the omnis with one module and power them both with the same CIM motor?

30-07-2014 22:20

AKSoapy29

Re: pic: Butterfly Drive 2169 Style

Well I guess the way I would have described our butterfly drive is more just all omni's. The swerve drive modules are anchored in place so they do not turn. We burned out all of our turning motors at state, and that was the last of that. It never worked well in the first place.

I drove the bot on slick tile flooring, and it drifts around quite a bit, but it's a lot of fun to drive. I took it to some carpet, and it handled better.

We will experiment more, and probably post some updates!

31-07-2014 00:19

AlecMataloni

Re: pic: Butterfly Drive 2169 Style

I don't want to live on this planet anymore.

31-07-2014 01:28

llamadon

Re: pic: Butterfly Drive 2169 Style

This is not butterfly haha.

31-07-2014 02:28

AKSoapy29

Re: pic: Butterfly Drive 2169 Style

Haha whoops, just the omni wheel mode from Butterfly

Still, it was interesting to drive; a robot with only omni's on a slick floor. Almost clipped the arm on some things a few t imes

31-07-2014 08:33

Arpan

Re: pic: Butterfly Drive 2169 Style

Don't forget the locktite on those WCD gearboxes

31-07-2014 10:36

Andrew Schreiber

Re: pic: Butterfly Drive 2169 Style

Wait, so you were steering omnis? WHY?

More shocking, you burned out steering motors while steering omnis? HOW?

I'm hoping this is a gigantic troll because the level of WTH is way too high.

31-07-2014 10:46

Boe

Re: pic: Butterfly Drive 2169 Style

I believe what happened was they ran traction wheels with their swerve at the MN state tournament and blew out the turning motors there, and then locked the modules in place and ran it as a 4 wheel tank. Then some time later they switched the traction wheels to omnis.

31-07-2014 10:46

notmattlythgoe

Re: pic: Butterfly Drive 2169 Style

I'm guessing they burned out the swerve drive, then swapped the omni wheels in so they could drive it as a 4 wheel drive.

Dang, ninja'd.

31-07-2014 10:48

JamesCH95

Re: pic: Butterfly Drive 2169 Style

Careful with loctite near those polycarbonate wheels... You'd be much better served with NyLok nuts or similar.

31-07-2014 10:48

Andrew Schreiber

Re: pic: Butterfly Drive 2169 Style

Ok, this makes significantly more sense.

31-07-2014 12:02

AKSoapy29

Re: pic: Butterfly Drive 2169 Style

At the start of the season, all of the wheels were 6" KOP wheels, each one individually powered. We couldn't really get the code right, so for state, we added steering linkages, meaning the front pair of wheels were locked together, and the back pair of wheels were locked together. Essentially it had a car steering setup on both the front and back. Well after/during our second match at state, we think the bar flipped around to the opposite side of the wheel, and the encoder detected that, and tried to correct itself, hence burning out all of our motors. The day before state, we changed out the wheels on the shadow bot modules for tank, so we quickly reprogrammed the robot and changed out the modules, took out the turning motors, and locked the wheels in place. Tank has so far worked the best Just for fun, we made all of the wheels omni's, still having them locked in place.

01-08-2014 00:51

R.C.

Re: pic: Butterfly Drive 2169 Style

I believe those are vex omni wheels and they are made out of glass filled nylon. I'm fairly confident you can use threadlocker without the risk of melting or cracking plastic.

Edit:
http://www.chiefdelphi.com/forums/sh...1&postcount=16

01-08-2014 08:28

JamesCH95

Re: pic: Butterfly Drive 2169 Style