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DRIVETRAINS

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DRIVETRAINS

  • A drivetrain allows a robot to move using wheels, treads, etc..
  • The configuration of your chosen drivetrain allows the robot to move in different ways depending on your criteria

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TANK DRIVE

  • Two joysticks control independently the left and right side of the drivetrain
  • Precise turns/maneuvering

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  • To turn LEFT:
    • Ch.A goes down, Ch.D goes up
  • To turn RIGHT:
    • Ch.A goes up, Ch.D goes down

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  • Ch. = Channel

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ARCADE DRIVE

  • One joystick controls forward, back, and turning
  • Easy to learn and one joystick available for other functions

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  • Cons: Less precise movements

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H-DRIVE

  • Uses all omni wheels with one wheel perpendicular to the main drive wheels
  • Similar to tank drive with additional strafing (robot can move side-to-side)

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HOLONOMIC DRIVE OR X-DRIVE

  • Holonomic – ability to move in all directions
  • All omni wheels, each powered by a motor
  • Omni wheels angled at exactly 45°

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X-DRIVE WHEEL �DIRECTION FOR DIFFERENT MOVEMENTS