Hi again everyone!
I haven’t been online in quite some time and now that I’m a mentor I haven’t been around as much (unfortnatly) to see what team has been doing.
I was on youtube recently and noticed they had a new video up for this season and I think its cool so I think I will post it here
any comments would be sweet, and look forward to linkage version 2.0 in this coming season!
Great video! I know we here at FIRST Objective would love to have you guys link it in on our site.
FIRST Objective is a site that targets schools that are not already involved in FIRST. We use lots of videos to promote all the great aspects of FIRST. We also have forums, groups, maps and other tools for FRC teams. We are trying to build a community of FIRST enthusiasts to help encourage more schools to start teams.
Check out our site at: http:www.firstobjective.org
To link in a video you need to join the site. It’s free, no spam or advertising. We’re just FIRST people trying to get more people involved.
Thanks,
Roger
Wow, now that is creative.
I’m not trying to put you guys down but isn’t that solving the same thing mechanum does? And if you’ve already went so far to make seperate modules, wouldn’t it be worth while to make a swerve drive? It would probably be better in a pushing match than omni’s.
Just a thought…
Again, great design, very well made.
almost, but not quite.
mecanums are still frictionless (somewhat) in all directions, so if someone pushes you, you are limited in what you can do to stay in control. as far as swerve drive, thats very complex to build (and keep running). in last years game, the linkage was perfect because it did all of our directional driving but also gave us full torque in a direction of our choice. if a robot started pushing us, we could move the wheels to that direction and have 4 CIMs of power to fight back. it worked well last year, but now we’ll have to see how well it could work for the game this year.
we do not have the machining skills to make a swerve drive, and we did not like the lack of power with mecanum strafing, so we made a middle step. Something with roughly twice the power of a mecanum and twice as easy to make as a swerve, we think its a good compramise. That and its creative and thats what we are about.
Ah, I can see. Makes more sense now. I was thinking what would happen if you got pushed at right angles, but you can just change your wheel orietentation toward the pushing robot.
What happens if you’re pushed at a corner though? Do you spin out or is there a technique to counteract that?
I loved the Paul quote at the end: “Twitch has some manergy baby!”
Good work guys, see you at Waterloo and GTR.
Pitting any robot (pushing it on the corner) will probably spin out 90% of the robots out there, including ourselves until the driver gets a hang of fixing it there really isn’t anything special to fix it on our bot
only Waterloo this year unfortnatly… the extra border cost made it too much for us to compete in GTR 
Nice video, love the tune! That was a really innovative drive system, I actually got to see it up close at the school just before the end of the season when Mr. Pope offered to donate a much needed Spike relay on the last day of the build, thanks again!
Depending on the game, I might actually choose this drive over a regular holonomic drive as you do get the full drive power in the desired direction as opposed to losing some energy on roller slippage.
Antoine Trabulsi
Team 2609
You know what’s even crazier? Use two cylinders in-line instead of one on the linkage. This way you could have the linkage engage half-way. With 4 wheels at 45 degree angles, you have a holonomic setup right there.
You’d get the best of all three worlds 
.
Wow, that’s an awesome piece of work you guys got there! I got one question though, if all the modules turn at once(correct me if I’m wrong), then do you guys use tank drive for small precision turns? or are you able to control the modules to permit intermediate turning instead of a full 90 degrees?
we use tank drive for turning the bot, we had designed a lock for a pure holonomic (with the wheels at 45 degrees) but then choose to leave it out for last years game because we didn’t think we would need it.
We may include it this time around if the game permits.
Thanks for the comments and I hope you guys choose to use it 2609. If you need help with it let me know I would be glad to share any info for you
Awesome video! I really like how the linkage v2 “twitches” even faster =). Looking forward to seeing your robot this season. Good Luck T3!
You just made me significantly more confident in my Waterloo Fantasy FIRSTselection.
Do it again!
I’ve been rewatching this for the last couple days, and I think I’m hooked!
Its looking like we are in the same boat(water game referance) as you guys, Unless we magically come up with some more money, GTR looks out of the question 
I must give props to 1565, all around amazing team, they helped us out when we where running out of spare motors, and where amazing people though both Waterloo and the GTR. Unfortunately we didn’t get to play a single match with you on our side. But there’s always this year.
Hope to see you at Waterloo,
Adam Bochek
Creative design guys. I was just wondering what the configuration of the linkage system is and how you lock it in holonomic. Does it use chains or bars. a sketch would be nice. Thanks.
Here’s a picture they put up last year:
http://www.chiefdelphi.com/forums/showthread.php?t=65067&highlight=1565
thanks