Team 1261

I think what Logan said about the dual wheels and turning would be not good, we proved today. I think the single wheels helped, but not optimum. I am somewhat concerned that Logan's chassis will have similiar issues.

Sunny/Logan, look at the other AM wheels with the other tread design. It might allow more slip when turning but enough traction going forward/reverse.

Whatever drive train we use the 'vibration/wheel hopping' is very apparent and means we need to use loctite and/or rubber mounts.

I think trying some slicker wheels (like omnis or something) in the diagonal part of the chassis or in the front/back would work well. I think having slick wheels in the front might make turning easier, without increasing the difficulty of getting over the bump as the back wheels should be sufficient to push it over the bump.

-Tanner

Just thinking of now much the treads compress with the weight of the robot, I don't think the tread type will make a difference.

The thing with Logan's chassis is that the center wheel is off set a little bit.

Now, when we put it on the carpet, the offset was not very effective, but I think simply the fact that it's there means that 4 wheels have the full weight of the robot while the other two are slightly grazing the carpet.

I expect Logan's chassis to turn "better" than Tanner's, but the exact success is uncertain to me.

I think omni wheels would be the best way to go if turning becomes an issue. The way Logan's chassis works, there will always be a roughtop wheel in contact with the carpet, so we can replace the four outer wheels with omnis. This way, the POR hasn't changed, and we can still power over the bump, and when turning, there's two roughtop wheels and at least two omnis in contact at all times.

I ordered 4 omni wheels, 2 3/8" bearings, 2 1/2" bearings, to see if this helped our steering wheel hop problem. I think it did. I think the ulimate is to put two dual traction wheels on and two dual omni wheels on. We want to be able to push and pin as needed. This will also help getting over the hump.

I do not want to put the dual omnis on until we see if Logan's chassis may need them. We could add the dual tractions.

I also thought about which way is better to go over the bump, traction in the back pushing or in the front pulling. I think we should have a switch on the driver station, that would just reverse the joystick so if we decide to go over with traction in the rear, it is much easy to drive forward. This might also be neat if our kicker gets disabled and we want to be real defensive - traction in rear.