Drivetrains are one of the first mechanisms that teams typically build and start development on. There are few changes to the robot rules that are needed to consider when designing a drivetrain
Ultimate Goal provides a flat field with little in the way for a robot to maneuver through out the field of play. Rings are re-introduced into the field through a drop on the side of the goals by a human player. Rings will likely be rolling along the field and sitting flat when hitting a robot or another object like a field wall. While the rings themselves are compliant it doesn't seem like they are easily trapped inside of a drivetrain.
Robot rules, outside of the weight limit, have mainly stayed the same. The main constraint is the 18" x 18" x 18" sizing requirement.
While there are many types of drivetrains teams can build, getting a drive train up and running as quickly as possible should be an overall goal. With this in mind there were two main drivetrains we considered utilizing for Ultimate Goal; Differential Drive or Mecanum Drive.
Either choice for a team will lead them to success this season. For our prototyping of intakes we went with a Mecanum Drivetrain mainly so it would sit lower to the ground.