With the use of 6 blue motors on a base, my team has been told multiple things. I have heard 450, 480, and 600rpm bases to all work. Does anyone have any ideas of what they find to work the best? This is with 2.75 inch anti-static omni wheels.
You could use any of them. If you need your robot really fast, you should use the 600 rpm one, but it is going to create drift and the robot might be a little inconsistent. But, if your robot has all the weight and friction distributed well any of them would work.
I’m not a complete expert on making drivetrains but 600 rpm is nice cause you don’t have to do gear ratios/easy to build.
You are given your own freedom to build any drivetrain you want. It is up to your own discretion. As far as RPM goes, usually lower RPM will mean more pushing power. I have seen teams use 450-600RPM 2.75" drivetrains. It is really dependent on what your robot’s purpose is. If you want to be very agile, go with 600RPM, but keep in mind it’s going to get pushed around. 450 is slower but has more pushing power, and 480 is in the middle. Also with Omni-wheels, you may or may not want to have traction wheels - the omni wheels can introduce drift/slide.
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There are Pits and Parts videos on YouTube that feature teams who use these drivetrains, I recommend you check them out.
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Also, if you want to do odometry with your robot it is better to use a direct 600 rpm rather than a gear ratio.
Pick whichever you like accounting for robot weight, driver skill, and desired drive base length. Speed increases as torque decreases and vice versa. For a team new I would recommend starting with 450 RPM and work your way up.
No, this isn’t correct. Odometry should be done with separate tracking wheels, so your drivetrain speed is irrelevant. Even without trackers, the accuracy purely encoder-based odometry is in my experience not really affected by the gear ratio of the drive.
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If anything, the gearing should help with using motor encoders because if the drive train is built properly, there will be significantly less slop than if they ran non geared direct 600.
To awnser the OP’s question, 450RPM is the best ratio for novice-advanced drivers as it is a great balance between torque, and speed.
480rpm and 600rpm should only be ran for teams with extremley competitive and advanced drivers, as these speeds do become harder to control.
By 450 RPM for new teams, you mean ~65 in/sec, right? (65 is the calculated speed for 450 rpm on 2.75 in wheels)
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Also just as a little warning that if your robot is heavy above 15 pounds I would not recommend 600 rpm as we did that and we found out that now with a lightly slower ratio it’s actually faster
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Sorry I forgot this was v5, in IQ we don’t have any encoders, so we can’t use tracking wheels, but if there are any alternatives Im all ears.
It’s up to preference. In my opinion 360,400, and 450 on 3.25" or 2.75" are good for this years game in particular, it varies every year tho.
450 is generally the standard, it has a good speed torque ratio. 600 is generally too fast.
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Furthermore, if you use the 600 rpm one, you don’t need any gear ratio, and you can adjust the speed in your program, it might give you more flexibility.
I don’t think anyone has posted this yet, so i would advise looking at this post:
Catalog of Drive Gearings
This post has a lot of the information that you are seeking.