Currently, my team has a complex traybot with a motor distribution of:
6m (High Speed) 1:1 Drivetrain on 4" Omnis
2m (Torque) 7:1 Tilter
2m (Torque) 7:1 Lift Arms
2m (Torque) 1:1 & 3:5 “China style” intakes with 18t sprockets
Our intakes cap out at around 10 cubes with one of the intake motors stalling, and I was wondering if it would be viable to take 2 motors off of the drivetrain and use them on the intakes instead. I know that some teams in ITZ used 4 motor drivetrains, but 10+ cubes weighs a lot more than a mobile goal and some cones.
If anyone who has experience with Cortex can help that would be greatly appreciated!
With cortex, the best robots almost always had at least a 6 motor drive, so i would not recommend going down to 4. You may need more compression on your intake to pick up more, but if that isn’t the problem, try a higher torque ratio. If the driven gear is the 60 tooth gear, try making the driver a 12 tooth gear for a 5:1 ratio. If not, try flipping your ratio.
The only simple thing I can think of is using smaller sprockets on the intake to get a little bit more torque. If you really wanted to get as much power to the intake, it would be possible to make a differential drive that connects with the tilter which would free up two motors.
For cortex, which ports the motors go to will matter as well.
Ideally you would want to distribute the current drawn by the motors evenly among the PTC as well.
Port 1 to 5 share one PTC, and 6 to 10 another PTC.
And assuming you will be using power expander, that will be another PTC.
So do plan which motor should go to which PTC.
Eg. You wouldn’t want to put all the heavily used motors all in the same PTC.