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The bare base shown in the development video is ballasted to 118 lbs with dumbells and extra batteries. The final bot was underweight by 18 lbs and then ballasted to full legal weight with the distribution set up to enhance lateral pushing using the front and sides of the bot.
fneuperger 2 years ago
For a given robot weight, the 8 wheel solution gave a respectable traction improvement over the 4 wheel solution. Enough benefit to go to the trouble of building those front swerve units with 2 wheels each instead of one. .
fneuperger 2 years ago
Steering stability control minimizes the possibility of under-steer and spin-out in cornering at speed.
Anti wheel spin and anti skid system does not require the onset of the skid/slip effects such as typical automotive ASB systems. We prevent the skid/slip at the outset.
There are driver overide buttons for advanced drive-train features to allow for contingencies and moves that require wheel spin.
fneuperger 2 years ago
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FYI, that waxed tile floor was not much stickier than regolith. The bare platform driving was with early version of traction control that limited our top speed to 50 %.
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Traction control used in AZ Regional had the improved anti slip acceleration and anti skid braking with independent control on each wheel, but would allow top speeds of 11+fps. Have a look at match 39 where we chase down 2837 and deposit a load of balls as a demonstration of our chase capability.
fneuperger 2 years ago 2
Yay Team 39!
xdarkxbarbiex 2 years ago