Drivetrain

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

Field Layout and Obstacles

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 Size Restrictions

Robot rules, outside of the weight limit, have mainly stayed the same. The main constraint is the 18" x 18" x 18" sizing requirement.

Drivetrain Options

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.

Differential Drivetrain

Using a differential or tank drivetrain, like the Channel Drivetrain, is a solid option for teams.

Pros	Cons
Can hold ground when getting rings	Can not strafe to align with game piece or goal
More traction with floor
Stock out of FTC Starter Kit V3

Mecanum Drivetrain

Using a mecanum drivetrain gives teams some extra maneuverability on the field by allowing the chassis to move omni directional.

Pros	Cons
Move side to side for alignment	May have trouble getting rings against other
Lower to the ground with 75mm Wheels	Requires two extra motors and mecanum wheels

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.