FTC TrackWheels // Odometry Wheels

grabcad

This is a 3D printable and easy-to-ensemble odometry module designed to fit in a GoBilda 1120 Series U-Channel.To ensemble one module, you will need the 3 3D printed parts (x1 Base_TrackWheels_B_2021, x1 Base_TrackWheels_NB_2021, x1 Hub_TrackWheel) and:x1 Rev 60 mm Omni wheel x1 Rev Through Bore Encoderx1 8 mm * 12 mm X 3.5 mm Flanged Bearingx 1 5 mm Hex to 8 mm Round Bearing Insertx2 M3 * 35 mm Hex Cap Screw x1 M4 * 51 mm Button Head Screwsx1 M4 Hex LocknutI also recommend using some rubber bands to ensure that the module always touches the floor. (The rubber bands are meant to be placed in the highlighted area in the pictures in the Assembly folder).This is a good playlist for implementing odometry in an FTC robot using a GoBilda Mecanum Drivetrain. A lot of these concepts can be applied to this model (https://youtube.com/playlist?list=PLICNg-rquurYgWAQGhu6iC0At75vgqFJp)