LogoLogo
  • 2024-25 REV DUO FTC Starter Bot
  • INTO THE DEEP 2024-25
    • Starter Bot - INTO THE DEEP
    • Bill of Materials
    • Programming TeleOp
      • Programming - Initialization
      • Programming - Creating Functions
      • Programming - Controlling the Arm and Wrist
      • Programming - Intake and Claw Toggle
      • Programming - Driving and Telemetry
      • Programming - OnBot Java Overview
    • Build Tips & Tricks
    • Upgrades!
    • Starter Bot Changelog 2024-25
  • CENTERSTAGE 2023-2024
    • Starter Bot - CENTERSTAGE
    • Bill of Materials
    • Programming Teleop
    • Building Tips & Tricks
    • Upgrades
    • Starter Bot Changelog
  • POWERPLAY 2022-2023
    • Starter Bot - POWERPLAY
      • Alternative Control Hub Placement
    • Starter Bot - Programming Teleop
    • Game Breakdown
    • Game Elements
    • Drivetrain
    • Intake
    • Lifts
  • Freight Frenzy - 2021-2022
    • Starter Bot - Freight Frenzy
    • Starter Bot - Programming Teleop
    • Game Breakdown
    • Game Elements
    • Drivetrain
    • Intake
    • Carousel Mechanism
    • Freight Delivery Mechanisms
    • Programming Autonomous
  • Ultimate Goal - 2020-2021
    • Game Strategy
    • Game Piece
    • Drivetrain
    • Intake
    • Conveyor
    • Flywheel Launcher
Powered by GitBook
On this page
  • Mecanum Drive
  • Upgrading from the FTC Starter Kit V3 to Mecanum Drivetrain V2:
  • Example Mecanum Drive Program
  • Adding Independent Wrist Movement
  • Blocks:
  • OnBot Java:

Was this helpful?

Export as PDF
  1. CENTERSTAGE 2023-2024

Upgrades

PreviousBuilding Tips & TricksNextStarter Bot Changelog

Last updated 8 months ago

Was this helpful?

Mecanum Drive

Upgrading to a (REV-45-2470) allows for new kinds of movement giving the robot the ability to strafe side-to-side across the field.

For Mecanum Drive each wheel has an individual motor!

Upgrading from the FTC Starter Kit V3 to Mecanum Drivetrain V2:

The following additional parts are needed:

Example Mecanum Drive Program

This example code uses a different configuration than the Starter Bot's provided code! Please make sure to update both your program and the configuration file through the Driver Station.

Adding Independent Wrist Movement

Below are a couple examples for adding wrist movement using the existing variables:

These examples are meant to replace the use of presets in favor of manual control of the arm and wrist.

Blocks:

Example 1:

This option functions similar to the gripper using the two preset positions. If "Up" on the Dpad is held down then the wrist will move and stay in the up position. When released, it will return down.

Example 2:

This option breaks the movement apart to move up or down when the matching button is pressed once on the Dpad. The button does not need to be held for it to remain in the set position.

OnBot Java:

Example 1:

        //Indepedent Wrist 
         if (gamepad1.dpad_up) {
          wrist.setPosition(wristUpPosition);
        } else {
          wrist.setPosition(wristDownPosition);
        }

Example 2:

        //Indepedent Wrist 
         if (gamepad1.dpad_up) {
          wrist.setPosition(wristUpPosition);
        } 
         if (gamepad1.dpad_down) {
          wrist.setPosition(wristDownPosition);
        }

The FTC Starter Kit V3 can be

- QTY 2

- QTY 4

- QTY 1 (set of 4)

- QTY 1

How a Mecanum Drivetrain is programmed largely depends on the driver's preference for how the controller is configured. If your team is new to Mecanum, we have a

Using the the wrist only moves when one of the preset arm/wrist buttons on the controller is pressed. Your team may decide to add independent wrist movement for more refined control.

upgraded to the Mecanum Drivetrain V
1 following this guide.
UltraPlanetary Gearbox Kit & HD Hex Motor
Ultra 90 Degree Gearbox
75mm Mecanum Wheel Set
M3 x 6mm HexCap Screws 50 Pack
Full build instructions can be found here!
demo code and breakdown available for Blocks.
Mecanum Drivetrain
provided program
REV's Mecanum Drivetrain Kit V2