Hello, I have 1 motor I am currently not using and was going to try to only use 1 motor for my intake arms. I have trouble getting out of the zone when I stack in the large because I need to get back into there so I can stack 2 stacking in it. I was wondering if there was any other way to stop this from happening.
If not would it be better to use chained 2 motor or chained 4 motor drive.
Thanks,
Eclipse 7157A
Well all I can think of being your issue is your clearance of the floor. Try increasing your clearance and see if that helps. Regarding your drive, I would highly recommend a 4 motor drive as my team tried a 2 motor drive but the lack of speed and torque a 4 motor drive offers is immense. If you have the ability to create a 4 motor drive, no matter if its chained or not, I would do it. Furthermore, if you do chain your drive, make sure you tension it somehow to prevent slipping and overall slack.
We had the same problem. What we did was we uplifted our tilter, and everything went smooth after that. So see if the tilter will get stuck on the way out, and make it higher if it does.
Depending on how large your drive and robot are, you might be able to move the tray itself. With our robot, the attachment point for the tray is farther out than the wheels are, so we never have to enter the zone to score (we just drive up to the edge)
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Our clearance from the floor if fine. We just cant move out
We have ours high up. Though could you send me picture of your robot.
If it’s just because your chassis is too weak, you could always try adding a 3rd powered wheel in the middle.
Make sure you dont have any metal on the underneath side of your chassis that can get hung up
It’s harder to get out than in, There’s no ramp leading out.
If you have the space inside the goal zone to build up momentum, I’ve found that to be helpful. Also using your bot’s mechanisms to alter your CG to move your center of gravity as far outside the goal zone might be helpful. I’ve found it to be helpful for me.
The other option is to create a mechanism on your robot to help you get over the hump. This can be somehting like a wheel on the bottom of your tray that makes contact when it’s over-tilted to get your front wheels above the barrier (using your back wheels to back out), then lower your tray to get that extra wheel out of the zone.
Mechanically, there are a lot of options. You’ll just have to see what you can do.
And then there’s the option of just not entering the goal zone. If you can get close enough to the wall (make base thinner), you’ll be able to deploy your stack close enough to the wall in the deep zone that you wouldn’t need to enter the zone to use the angle of deposit.
A lot of teams ride the wall to deploy their deep stack, and then ride the other wall to deploy their other stack.
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We had this happen before and we figured out a mild solution to the problem:
If you have chain on your drive connecting the front and back wheels, and your drive has 4" wheels, replace the sprockets to 24t sprockets (So they will be wide and the chain would almost be touching the ground) and cut rubber treads to have the same width as the chain. Then replace some of the chain links with rubber treads.
The treads will allow the entire length of your robot to have traction, so if your robot is over the bump it can have more traction to get over the bump. Hopefully this makes sense 
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Check this topic
But I just need to get out, I need to get in to stack 2 in the large zone
Unless I can find a way to make the tray be further out from the robot