One innovative feature of the robot was its “Kiwi” drive. It used three individually powered omni wheels spaced at 120 degrees intervals. This allowed it full holonomic motion (forward/back, strafing, and turning in-place).
This drive train presented a programming difficulty given the control hardware at the time (a Parallax BASIC Stamp running PBASIC), particularly in performing trigonometry or storing √3. It would be prohibitive to control the robot using a single joystick in a traditional manner. To sidestep the issue, a fully mechanical solution was implemented. Three joysticks were arranged in a pattern mirroring the drive wheels, and a central “Y” linked each together. This way, the driver could manipulate the central knob on the “Y” like a three-axis joystick, and each drive motor could simply be commanded with the joystick position without additional calculations.
|Motorola Midwest Regional||5-4-0||Rookie All Star Award|
|Western Michigan Regional||7-5-0||Rookie All Star Award
Highest Rookie Seed
|The Blue Alliance entry for 2002|