paper: Possible swerve maneuvers by configuration
 

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Possible swerve maneuvers by configuration by Nate Laverdure

Re: paper: Possible swerve maneuvers by configuration
 

Ah, the Unified Field Theory of Swerve.

Great job!

Re: paper: Possible swerve maneuvers by configuration
 

Our team has done 4 wheel independent steering, 4 wheel independent drive for 4 years now. There have been many discussions of the positive and negative value of swerve in all it's forms to First competitions. However if you have never experienced swerve it is hard to visualize the movement and possibilities. This season we have refined our swerve code to eliminate some problems in the past years. The following link is to our website and down on the right hand side is a video of our driver just messing around testing a new code update. Not really doing anything but the video shows allot of the movements and behavior that are possible. Also the bumpers are not on so wheel position can be observed. This may help with the visualization of the chart posted.
http://wiki.team1640.com/index.php?t...IX_Drive_Train

Re: paper: Possible swerve maneuvers by configuration
 

Thanks, I've fixed this (and a few other things) in Rev A. If anyone can fill in the gaps in the "notable examples" section, I'd be happy to add them.

Re: paper: Possible swerve maneuvers by configuration
 

I have a question about the swerve drive you've built. I'm looking at the drawings you posted on the wiki (http://wiki.team1640.com/images/b/b2/Proto6c.pdf)

I'm a bit confused about which motors are doing what. There seem to be two motors mounted vertically facing upwards, one in line with the wheel and one to the side of the wheel. Which one is driving the wheel itself and which is acting as the pivot, and how do you make a vertical motor drive a wheel in a perpendicular direction? Also, wouldn't it make more sense to have the wheel driving the motor mounted horizontally rather than vertically, and directly drive the wheel?

Re: paper: Possible swerve maneuvers by configuration
 

Never mind, I just realized there's a more detailed explanation later in that page. Sorry about that!