Drive Train
The drive train was modeled and built as a two-gear and belt system, which allowed the motors and wheels to lie on the same plane (thus conserving space to meet the 1 cubic foot spatial constraint). The belt-drive configuration also prevents the motor shaft from experiencing vertical loads. The motors were press fit into two ¼ inch pieces of masonite. Individually turned slip fit couplings secured each gear to its respective motor with a set-screw.
This bottom view of the bot shows the placement of the wheels, supports, and tape sensors. Rubber bands were attached around the roller blade wheels to increase traction between the wheels and playing field. The bearings on either end provided stability during all motions (driving forward/backward and rotation). The two tape sensors along the major axis provided feedback for robot positioning.