VEX Sack Attack Drive Train

Hey,

If you read my post on our vex transmission system last year, you would know that is consists of multiple motors that are switched to two different outputs depending on which output is locked by pneumatics. There was also a planetary gearset that would fuse inputs to form one output, essentially allowing us to have a dedicated drive motor so we could move. This year we decided to simplify things by taking out the planetary gearset. However we are keeping the differentials due to the flexibility offered by the ability to switch motors to different outputs. (link to post: http://tasrobotics.blogspot.tw/2012/10/summary-of-past-9-months.html)





This year, we now have 8 motors dedicated to drive and the arm, they are switched to and for with one of our differentials. The drivetrain this year is also much simpler, utilizing bevel gears to compact everything together, here are some pictures:

overview of the entire system

Differential for switching (yes the mood lighting was required)

the bevel gears powering the differentials

Currently our robot is roughly 40% done, which is kind of frightening since our competition is in 3 weeks at Taipei American School. However we do have a lift thought out as well as the intake, now where should we put the cortex...