sswaszek
I posted our code for four wheel steering the the Programming forum it should help you get a basic idea of how to calculate the angle and how to apply speed to the steering motor. The worst part of it is calculating the inverse SIN or COS
Hey! Awesome modular design. I was just wondering how fast your robot goes (feet per second)? Do you have only two speeds or more …? Hope we get paired up with you guys again this year! Thanks for all the awesome memories at Ypsilanti last year.
Only 7 feet / sec.
I guess we are conservative when it comes to running our motors on the low torque side of the power curve. We prefer to be safe and not blow a fuse or burn out the motors.
I am amazed some teams can get away with going more than 10 feet/sec. I guess thats what CVT’s or other shifting does for you. Crab or swerve do not mix well with shifting.
Engineering - it’s all about compriomises.
Raul-
Looks nice, you guys have some stuff similar to ours and it should be an interesting competition in a few weeks in IL. Hopefully we both can perform as well as last year. 
Whoever did that video with tthe half life music:
THat is one kick a$$ video and i congratulate whoever worked on it.
P.S. Your bot looks awesome and i hope to see you at nationals(hopefully as your partner)You guys make excellent videos. I enjoyed it entirely (not to mention d/ling it in 3 seconds. I still don’t know how I did that). We still watch it in the animation studio, 'cause it never gets old.
I really like the Wildstang’s vids…It was a lot of fun watching the bot in action at EMU.
As for speed, our bot we had geared for 10fps…and we had enough pushing/pulling power for sure…But If we had to do it agiain we might slow it down to 8.5 or so, and get that little bit more power.
Getting to the goals quickly seemed to be as important as being able to get in a tug-of-war…10 seemed to fit that balance for us well enough…Afterall 4th aint bad…lol
How many balls can you get in one “basket”(or whatever the thing is called) full?
also, how many can you gey in like the first 30 sec? minute?
My teams bot doesn’t have ball pick-up…
We’re just goal grabbers.
Realistically we can fit 10-12 balls in our chute. I’m not sure how many we can grab in 30-60 secs, but if I recall correctly, we usually scored 8-15 balls from the floor during our qual matches.
Mike