A great looking robot. Although i’m curious, whats the speed/gearing of that drive train?
It is geared for 11 ft/s.
WCP SS gearbox with 44:30 reduction and 14t pinion gears
How are you properly going to use the NavX as it is mounted on the side of your robot?
Why do you have shaft collars on your drive shafts? You’re using thunderhex. Just tap it for 1/4-20 and use a washer + bolt to retain the wheel.
Or is this a conscious design decision I’m missing?
This is completely possible.
If you have the space on the end of the shaft for a shaft collar, there’s really no downside to using BOTH a shaft collar and a tapped 1/4-20. Extra security.
I’ll be that guy:
I assume you have a plan to have your side bumpers properly supported per R31, and it just isn’t visible yet? Front/back look to be OK, if the bumpers will fit within the volume.
*Disclaimer: This is CD in Week 4 of Build Season, not your first event, so any rules concerns and/or rulings are based on what is presented here, not the inspection at said first event. There is zero chance that “But CD said it was OK” will get you through inspection.
As long as that 1X1 tube running front to back is 7 inches or lower and that is backing the bumper it could work, I’m guessing the lower edge is at 6 inches. I will recommend bringing some support closer to your wheels either way.
You climber is interesting, it is the first one I’ve seen in awhile that I think has a chance of actually pressing the touch pad.
There are four inch wheels touching the ground, and what appears to be less than a 2 inch gap between those wheels and the member above them spanning the length of the robot. The bumper can likely touch that frame member along its entire length, fully meeting the rule. I don’t see the issue here?
Whoops! Didn’t look close enough in the picture to see if there was an omnimount underneath. Figured I would say something just in case though 
No, I don’t think there is an omnimount. You can programmatically callibrate the Navx to work correctly in any configuration because it senses on all 3 axis of motion.
If the bumper touches the frame member, it’s fine. I didn’t see that on the first go-round. (Of course, if for some reason it doesn’t, it’s an easy enough fix with some strategically placed aluminum.)
Could be very wrong when saying this, but I really don’t think you’re going to get 11fps out of this. 3cims on a 50:14 and a 44:30 reduction comes out to be a 5.24:1 overall ratio for a theoretical of 17.76fps or 14.39fps adjusted. That gearing is very fast and you could be prone to brown outs. I would do some testing and adjust your drive speed accordingly.
That seems like a decent speed for a 6-CIM drive on a field as open as this one, but I agree current sensing is wise.
If you really are geared for 11fps, consider going up to at least 15 or 16fps to take advantage of the extra acceleration of 6 CIMs.
Your robot looks very cool! Is that a wooden polycord pulley on the bottom?
We are going to be assembling our drivetrain with Vex Omnis and Versahubs today and I am wondering if the hubs just press fit into the wheels or if we need a bolt to run through and clamp them in. Thanks and Nice looking robot!
They press fit pretty securely into place. We actually had to use our Arbor press to assemble them. However, I’d put at least 3 bolts on for some extra security.
i forgot to mention where we arrived at the 11 FPS number from. we prefer to run our motors up to approximately 87.5% of their max speed to maintain efficiency. so we would never reach the 13-14 FPS range, i apologize for the confusion and misinformation.
At the bottom is a wooden polycord floor level ball intake. its only wooden because we are waiting on the real pieces to be milled, so we are just using the prototype pieces.
and on the gearing, check the post above for an explanation on what i forgot to mention about it.