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View Full Version : Team 2451 - Pwnage - Swerve Simulation Game

mr. giggums
22-04-2014, 22:34
This year team 2451, pwnage, developed a swerve drive. After completion of the code, a swerve simulation game was created for demonstrative purposes. Here (https://www.mediafire.com/?wwzzwr0l41um6wv) is a link to the program.

Simply download the zip file and unzip it. Then, click on the ".jar" file to run. For more information read the readme file.

If you have any comments, suggestions, or bugs, please post them below.
Cash4587
22-04-2014, 22:42
This is actually really cool. The robot has some INSANE acceleration and speed. Does it weigh like 5lbs? :p
SkittlesCharge
22-04-2014, 22:53
This is actually really cool. The robot has some INSANE acceleration and speed. Does it weigh like 5lbs? :p

I agree. This is really good. I would recommend adding less acceleration and speed as an option, though, just to make it more realistic. It's kinda hard to drive as is because of how fast it is compared to the screen size.
orangemoore
22-04-2014, 23:00
After a short time playing around I'm up to 15,200 using crab mode.

Very cool.

Now I want to build a swerve
MaxMax161
22-04-2014, 23:33
This is awesome and you should feel awesome. Thanks a ton for making this public. :)

Some more settings would be nice and/or the source code so we could play with it ourselves.
Chris Endres
22-04-2014, 23:34
Wow, I now know what I am going to play with on the bus ride to Champs tomorrow morning.
ekapalka
23-04-2014, 02:14
Its beautiful to watch it spin while driving. Its a little fast to make out, but do the wheels themselves never turn more than 180 degrees? I would love to see how that works :)
Canon reeves
23-04-2014, 09:27
Awesome simulator, great job! Still working on getting it to pivot stationary.
mr. giggums
23-04-2014, 17:29
I forgot to mention that this will be available to be played at our pit at world's. We will also have a demonstration of the mechanics of the swerve drive. Feel free to stop by and we can answer any questions you might have.
Joel Glidden
23-04-2014, 17:39
My burning question is about your source for the internal gear (20 DP x 48 teeth) used in your swerve module. Did you guys make them yourselves, or did you customize a COTS internal gear?
mr. giggums
23-04-2014, 18:48
Its beautiful to watch it spin while driving. Its a little fast to make out, but do the wheels themselves never turn more than 180 degrees? I would love to see how that works :)

On our actually robot the wheels are allowed to turn a little under a full revolution (330 ish degrees). For the robot code I have algorithms to deal with this but on the simulation code I just made the wheels point to where I want them to be. If you are world's, come to our pit and I'll be happy to fully explain how it works. If you aren't able to come to world's, I may be writing a white paper on the code when ever I have the time.

My burning question is about your source for the internal gear (20 DP x 48 teeth) used in your swerve module. Did you guys make them yourselves, or did you customize a COTS internal gear?

I believe it was done on a wire edm, but I'm not sure. I'm programming not mechanical, so I can't tell you for sure. If you can't stop by our pit at world's, then you can try to ask in this thread (http://www.chiefdelphi.com/forums/showthread.php?t=128465).

It moves fast

I am working on changing this along with some other things, on the way down to world's.
Woolly
23-04-2014, 21:51
Also, just an idea, but what if you had a 2-speed tank drive as an option just for reference/comparison?
Navid Shafa
23-04-2014, 22:06
If you have any comments, suggestions, or bugs, please post them below.

Once I open the Jar file, it says 'Press A to start'. Pressing A doesn't seem to do anything. I can select all the drop down menus and searched the read me file to see if I was missing anything. Any thoughts?
orangemoore
23-04-2014, 22:09
Once I open the Jar file, it says 'Press A to start'. Pressing A doesn't seem to do anything. I can select all the drop down menus and searched the read me file to see if I was missing anything. Any thoughts?

What are you trying to use?

I have been able to get a logitech gamepad f310 to work.
Navid Shafa
23-04-2014, 22:27
What are you trying to use?

I have been able to get a logitech gamepad f310 to work.

Keyboard for now.
mr. giggums
24-04-2014, 06:21
Once I open the Jar file, it says 'Press A to start'. Pressing A doesn't seem to do anything. I can select all the drop down menus and searched the read me file to see if I was missing anything. Any thoughts?

The program must be finding a joystick or gamepad attached. I can add a way to disable it in the future. For now you can go to control panel (if on Windows) and see what it thinks is a joystick. If you can unplug it. Otherwise I guess trey to disable it? I'm not sure.
rsisk
24-04-2014, 06:43
Had the pleasure of inspecting this team swerve drive IRL yesterday, it is a beauty!
Navid Shafa
24-04-2014, 06:47
The program must be finding a joystick or gamepad attached. I can add a way to disable it in the future. For now you can go to control panel (if on Windows) and see what it thinks is a joystick. If you can unplug it. Otherwise I guess trey to disable it? I'm not sure.

No gamepad or joystick attached. Tried disabling other devices too. Still no luck...
John Retkowski
24-04-2014, 08:40
This is awsome. Really helpful to get the basic feel of a swerve. The only problem I was having was getting a ball in the corner since I would just keep going instead of ramming against the side.
Canon reeves
24-04-2014, 09:16
No gamepad or joystick attached. Tried disabling other devices too. Still no luck...

Try pushing space, it worked for me.
mr. giggums
24-04-2014, 22:46
No gamepad or joystick attached. Tried disabling other devices too. Still no luck...

And it still says "Press A to start"? What devices do you get when you go to control panel, then devices and printers?
Navid Shafa
24-04-2014, 23:24
And it still says "Press A to start"? What devices do you get when you go to control panel, then devices and printers?

Yes. See attached screenshot.

16921
mr. giggums
25-04-2014, 07:42
To all, I have uploaded a new version here (https://www.mediafire.com/?6o6phs2pb5ofgh1).

Yes. See attached screenshot.

16921

Try the new version. It now has a use keyboard button (under settings).
Navid Shafa
25-04-2014, 11:46
Try the new version. It now has a use keyboard button (under settings).

The new version works great, thanks.
Ben Wolsieffer
25-04-2014, 16:03
Could you include the Linux and Mac binaries for Jinput also to make it easier for people?

Also, it seems like you set up the axes to only work with an xbox controller, not the Logitech gamepad. You should use the axis identification features of Jinput to get the correct axes on any controller:
controller.getComponent(Component.Identifier.Axis. X);
DJB11
27-04-2014, 01:11
Thanks, I actually have been looking around for something like this :D

Very cool though.
dubiousSwain
01-05-2014, 08:55
I have been playing this with my keyboard and an xbox controller, and i noticed when I use the controller, there is a noticeable drift on the rotation, but none on the keyboard. Has anyone else noticed this? Is it the controller?
Justin Lawrence
01-05-2014, 12:17
I remember looking at this robot. It is so cool. This was one of my favorite drive systems at championships.
mr. giggums
03-05-2014, 00:32
I have been playing this with my keyboard and an xbox controller, and i noticed when I use the controller, there is a noticeable drift on the rotation, but none on the keyboard. Has anyone else noticed this? Is it the controller?

This would be because the joystick is not centered.

Could you include the Linux and Mac binaries for Jinput also to make it easier for people?

Also, it seems like you set up the axes to only work with an xbox controller, not the Logitech gamepad. You should use the axis identification features of Jinput to get the correct axes on any controller:
controller.getComponent(Component.Identifier.Axis. X);

Thank you for this information. The identification feature will be in my next release. I will try to work on the binaries when I have time.