pic: 4143 offseason swerve drive
 

Re: pic: 4143 offseason swerve drive
 

Here are the Creo files:
https://drive.google.com/file/d/0B9l...XFhZkQ2LUo2YVE

Code is here: (The code is a fork of 16's 2013 robot):
https://github.com/FRC-Team-4143/TMW2013

Video is here:
http://www.youtube.com/watch?v=OQ-9FsVKt-o

Weight is right at 50 lbs. (without bumpers or batteries, with full control system)


Features:
Andymark toughbox nano gear boxes with output reversed. 3" Colson wheels. Pivots are tapered roller bearings on the bottom and needle thrust bearings on the top. Vex Versaplanetaries are geared at 40:1 to steer. Minicim motors would stay within the frame perimeter, but the video was shot with full cims.

We modeled sliprings but never tested them. Counting the wires wrapping in code is working pretty good.

Special thanks to Bombsquad for advice and code. Also Team Neutrino's 2012 swerve was a inspirational design. Al Skierkiewicz talked sliprings with me for a long time. Ether's swerve papers were also referenced a few times...

Re: pic: 4143 offseason swerve drive
 

Looking good. Any team that gets picked at the championship as a rookie and then builds a very quick 30 point climb and dump is a team to watch closely.

Re: pic: 4143 offseason swerve drive
 

That's true ;)


--Anyways

I like the high acceleration your robot has! It seems quite responsive. However, the robot is only as good as the driver is (unless it is full autonomous, in which it would be as good as the programmer)

Re: pic: 4143 offseason swerve drive
 

Looks really good! I always like to other teams using direct drive on the swerve modules, avoiding pivot gears. We had really good luck with our slip rings this past year... Something to keep in mind.

If y'all have any questions about the code, feel free to holler. You might find the Macy's robot code a little more decipherable. It's on our github site also.

From the looks of things, y'all have it figured out, though.

So are y'all going to use it this season?

Re: pic: 4143 offseason swerve drive
 

We're going to wait and see what the game is first. Making it during the build season will take a lot of resources.

We learned a lot trying to climb last year. We spent so much time getting that to work, we couldn't shoot. That cost us a lot of autonomous points. (although our 1-point goal autonomous dumper did win at least one match)

One other point I forgot to make, all the parts were made on a manual mill and manual lathe. So we should be able do all the machining in the school's machine shop. Our team has taken a lot of pride in having the students do the fabricating, and we are lucky to have a good machine shop at the school.