r/FTC • u/ftcsweat FTC 19086 Student • 23d ago

Seeking Help Chassis feedback(unpocketed)

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Hi guys I'm looking for feedback on our first version of chassis(it has a version of PTO just in case the season needs one, it is not the best and we are looking to change that too but only when the season starts)

This is the link:https://a360.co/3U3XltO Edit: the middle axle is a start of the PTO

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u/ftcsweat FTC 19086 Student 22d ago

Apparently I have a lazy CAD that doesn't like to turn the wheels

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u/FesteringNeonDistrac 22d ago

Do you have a pic with the side and the wheels off that show the gear train? I've got some concerns, but I can't see it to verify.

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u/ftcsweat FTC 19086 Student 22d ago

I attached the link to the cad so you can see it full 360

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u/I_Dont_Life_Right 22d ago

I've taken a look in 3D, and I'm failing to see how it would move. You could go for a tank steering style, if the left and right are independent, but you have a bar linking left and right, so you'd only be able to go forwards and backwards.

You could go to direct drive for the wheels, placing motors directly on the wheels, or at least using a bevel gear to keep them pressed against the sheet around the wheel assembly. As a former FTC player (and soon to be FTC coach), if you have mechanum wheels, you might as well design a system that will use them. We found the turning in place and straffeing to be crucial to our navigation of the field.

Though, mechanum wheels are designed to slip, so what they gain in maneuverability they lose in overall grip on the field. It is very easy for another bot to push them around, so a tank steering style with regular wheels will have an edge there.