Butterfly Drivetrain DevelopmentThe butterfly drivetrain, or “switch-drive,” is a configuration that allows a robot to switch between two different types of locomotion. In my current build, I use this to alternate between high-traction movement, using 72mm hogback wheels, and omnidirectional maneuvering, using mecanum wheels.My design features a two-stage reduction system. The first stage uses an 8:1 gear reduction to power the hogback wheels directly. The second stage uses a GT2 belt system to further reduce the speed for the mecanum wheels. This ensures both wheel sets maintain consistent surface speeds despite their different diameters.Inspiration: FTC Team 26000My implementation of this system is heavily inspired by FTC team 26000. Their work on the butterfly drivetrain showcases a clean, efficient way to package two distinct movement systems within a compact chassis. I studied their design to understand how they optimized the mechanical linkages for deploying the secondary wheels. This helped me solve the challenge of integrating a 5000 RPM motor with the high torque required for a multi-wheel system.By applying these concepts to my own robot, I am building a versatile drivetrain that adapts to different match conditions while maintaining precise control over wheel speed and grip force.