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PredaFran
25-01-2015, 16:16
As a C++ programmer, this is my first year programming with motors,encoders,the roboRio,etc. and my Team has been developing a swerve drive off-season,and my experience is not helping me with it, so i have been doing a lot of research about it, looking for templates,basics but i still cant manage to do it, so i came here to ask help, suggestions, tips. Everything that can help me


Info about the swerve drive: (attached an image)
*4 motors will be linked using chains, in groups, left(upper and lower) and right(upper and lower)
* it will only be able to rotate 180° to the lafet and 180° to the right
* we are still deciding if we are going to use the CANTalons or Victors

All suggestion are accepte
Thanks
Ether
25-01-2015, 16:32
*4 motors will be linked using chains, in groups, left(upper and lower) and right(upper and lower)

swerve has at least 8 motors (4 steering + 4 propulsion). which set of 4 are you referring to above?
PredaFran
25-01-2015, 16:33
swerve has at least 8 motors (4 steering + 4 propulsion). which set of 4 are you referring to above?



Sorry, 4 motors in the wheels, and 2 that move the chains that steer
Ether
25-01-2015, 16:36
Sorry, 4 motors in the wheels, and 2 that move the chains that steer

So, you have independent control of the wheel speed for each of the 4 wheels, but the front and back wheels on each side are chained together for steering?
PredaFran
25-01-2015, 16:37
So, you have independent control of the wheel speed for each of the 4 wheels, but the front and back wheels on each side are chained together for steering?




Yeah
Ether
25-01-2015, 16:41
Yeah

when you steer the front right wheel to the right, does the rear right wheel steer to the right also, or to the left?
PredaFran
25-01-2015, 16:45
when you steer the front right wheel to the right, does the rear right wheel steer to the right also, or to the left?




to the right too
Ether
25-01-2015, 16:53
to the right too

What kind of driver interface do you have in mind?
PredaFran
25-01-2015, 16:57
What kind of driver interface do you have in mind?




Smartdashboard
Ether
25-01-2015, 17:06
Smartdashboard

Configured how? What is the interface presented to the driver?
PredaFran
25-01-2015, 17:08
Configured how? What is the interface presented to the driver?




wait, sorry for that, we are going to use the FRC driver station
Ether
25-01-2015, 17:12
wait, sorry for that, we are going to use the FRC driver station

So, no joysticks. No Xbox controller. Just the FRC Driver station?
PredaFran
25-01-2015, 17:17
So, no joysticks. No Xbox controller. Just the FRC Driver station?




ohh, didnt get that, we are going to use the 3d extreme pro joystick for the driver, because its 3-axis
Ether
25-01-2015, 17:19
ohh, didnt gert that, we are going to use the 3d extreme pro joystick for the driver, because its 3-axis

What does your drive team want each axis to do?
PredaFran
25-01-2015, 17:23
What does your drive team want each axis to do?




X-Axis: left, right
Y-Axis: fowards and backwards
y-rotate: rotate in the place and while moving

By the way, thanks a lot for the help so far, we really appreciate it
Ether
25-01-2015, 17:54
X-Axis: left, right
Y-Axis: fowards and backwards
y-rotate: rotate in the place and while moving

Does "y-rotate" mean the Z axis (twist axis)?

What decision-making process did your team use to arrive at the above driver interface?

Has your team ever used a 3-axis joystick driver interface like this before?
Ether
25-01-2015, 18:14
Readers: if you or your team has experience with a chained-steering crab/swerve hybrid like this, would you please share your thoughts/experience about driver interface?
PredaFran
25-01-2015, 22:59
Does "y-rotate" mean the Z axis (twist axis)?

What decision-making process did your team use to arrive at the above driver interface?

Has your team ever used a 3-axis joystick driver interface like this before?



yeah, typing error there, Z rotate, this is our first year with a three axis controller, since this is the first year that we need it, we have been using a two axis last year
Ether
26-01-2015, 18:37
Readers: if you or your team has experience with a chained-steering crab/swerve hybrid like this, would you please share your thoughts/experience about driver interface?

Francisco,

I'm surprised there have been no responses yet.

While you are waiting, here is a thread that might give you some ideas about alternatives to a single 3-axis joystick:

http://www.chiefdelphi.com/forums/showthread.php?t=133468
PredaFran
29-01-2015, 18:58
Im Still waiting for help, the time to build is near its end and i have been reading everything i can, still not find any help at all.