We’re developing a unique slide drive for Recycle Rush. We’ve taken a typical H-drive and moved the strafing wheel to be inline with the front of the robot to reduce issues while driving over the scoring platform.
This wheel is on a coil spring suspension to improve strafing - something that was learned after initial testing. Our code will use a gyro in the loop to prevent unwanted robot rotation while strafing.
Here’s a video of the drivetrain in action.
At 1:20, we begin using the gyro to correct the robot’s rotation.