Drivetrain Design
Learn how to design and build an effective drivetrain system for your FTC robot.
What is a Drivetrain?
The drivetrain is the system that moves your robot around the field. It consists of motors, wheels, gearboxes, and mechanical linkages that work together to provide movement and control.
Common Drivetrain Types
Tank Drive (2-Motor)
Description: Two motors control left and right wheel sets independently.
Pros: Simple, easy to code, good pushing power
Cons: Slower turning, less maneuverability
Mecanum Drive (4-Motor)
Description: Four motors with mecanum wheels allow omni-directional movement.
Pros: Excellent maneuverability, can strafe sideways
Cons: More complex, requires specialized wheels and coding
X-Drive (4-Motor)
Description: Four motors arranged at 45-degree angles for diagonal movement.
Pros: Good maneuverability, simpler than mecanum
Cons: Reduced pushing power compared to tank drive
H-Drive (3-Motor)
Description: Two motors for forward/backward, one for sideways strafe.
Pros: Balanced maneuverability and power
Cons: More complex gearing
Key Considerations
- Wheel Size: Larger wheels go faster, smaller wheels have more torque
- Motor Power: Use higher-torque motors for slower, more powerful movement
- Gearing: Adjust gear ratios to balance speed and power
- Weight Distribution: Keep weight centered for stable movement
- Traction: Choose appropriate wheel material for field surface
Design Tips
- Start simple - tank drive is reliable for beginners
- Test mobility before adding mechanisms
- Leave room for maintenance and adjustments
- Use structural reinforcement to prevent flexing
- Consider the field layout when designing movement
Motor & Wheel Selection
For FTC competitions, you're typically limited to:
- REV HD Hex Motor - Standard, reliable, good torque
- REV Core Hex Motor - Lighter, cheaper alternative
- gobilda Yellow Jacket - High-speed option
- Wheels: Mecanum, traction, or omni wheels depending on drivetrain type