Drivetrain Design

Vex Robotics 2-Wire Motor 393

We decided on this motor because it provided high torque, good value, and contained the same square shaft receptor as our Omniwheels. This allowed us to directly connect our wheels to the motor with no need for shaft connectors, therefore simplifying our drivetrain design. We used the default gearing ratio used within the motor

Vex Robotics 2-Wire Motor 393 Output

Source of information below - https://www.vexrobotics.com/motors.html#Outputs

Free Speed: 100 rpm (As Shipped)/160 rpm (High Speed Option)
Stall Torque: 1.67 N-m (14.76 in-lbs) (As Shipped)/1.04 N-m (9.2 in-lbs) (High Speed Option)
Stall Current: 4.8A
Free Current: 0.37A

L298N Motor Driver

We decided on this motor driver because it is a dual H-bridge enabled motor driver, allowing it to control 2 motors at the same time, independent of each other if desired. It also has a decent operable current range, making us confident in it's ability to power our robot.

L298N Motor Driver Details

Source of information below - https://www.smart-prototyping.com/L298N-Dual-H-bridge-Motor-Driver-Board

Description

This is the popular L298N Dual H-Bridge Motor Controller, typically used to control motor speed and rotation direction. It can also be used for other products such as with LED arrays, relays, and solenoids, etc. It's a powerful little motor driver with a heavy duty heat sink. Capable of powering 5-35V motors with a max of 2A.

We've used up to 4 motors using the 6 onboard screw-terminals. It has an onboard 5V regulator that can output up to 1A with components with 5V power requirement. Don't use the 5V regulated power when supplying more than 12V to motors.

Specification:

Double H-bridge drive
Chip: L298N (ST NEW)
Logic voltage: 5V
Drive voltage: 5V-35V
Logic current: 0mA-36mA
Drive current: 2A(MAX single bridge)
Storage temperature: -20 to +135
Max power: 25W
Weight: 30g
Size: 43*43*27mm ( approx 1.75" x 1.75" x 1")
Compatible with L297/L298 driver

Vex Robotics 3.5" omniwheel

These wheels provide an easy axle connection while also giving us more flexibility in how our robot moved.

1/4" Square Shaft

This is a steel square shaft that acts as a robust driveshaft for our robot. It is the standard axle shape for most Vex Robotics parts.

Second Shaft Connection

The end of each driveshaft was linearly fixed within a bearing that was fixed within a piece of Duron.

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