Re: Who is using swerve for aerial assist and why
 

Don't forget 2481! They won WI with a very nice swerve drive.

Re: Who is using swerve for aerial assist and why
 

Add 2767 Stryke Force to that list.

Re: Who is using swerve for aerial assist and why
 

And 1640

Re: Who is using swerve for aerial assist and why
 

1640 was the only one using swerve at the MAR Championships and I was thoroughly impressed. Combine that with a very accurate shooter and experienced drivers and you've got a great combination :D

Re: Who is using swerve for aerial assist and why
 

I have a question for swerve users this year:

I am interested in how many swerve users this year are 1) 4 wheel independent or not, and 2 ) how many are field-centric (using a gyro) or not and 3) and if 4 wheel independent: use 4 PID's (for steering) vs. 8 PID's (for steering and speed control), or other?

For us (2067, Apple Pi) we are 4 wheel independent, and field-centric and use only 4 PIDs finding that similar to when we used Meccanum in 2011 that careful mechanical set-up mitigates the need for speed control. We have been quite pleased with this set up so far. Though have run into issues of gyro (KOP) failure after strong hits (g-forces) (are there better Gyros that can take more g forces?) - this has not been an issue before this year - likely a reflection on the level of robot interaction this year vs. past few, any suggestions on improvements there (gyro's) are welcome.

Though we also believe that without field-centric steering, swerve drive does not buy itself in, however we know that teams we admire have different views that we would like to understand better.

For those interested in driver control preferences our driver prefers a 2 joystick set up with strafe on a KOP Logitech joystick in his left hand and a Logitech Extreme twist stick in his right hand for rotation control.

Also I am surprised, that at least on this thread, it would appear that fewer than 20 teams (<0.1%) have swerve?

Re: Who is using swerve for aerial assist and why
 

Yep Breakaway won twice without swerve this year opposed to not winning with it last year

Re: Who is using swerve for aerial assist and why
 

For us:

1) we are 4 wheel independently driven and steered.
2) we have field centric as an option we can engage on a button press if we so choose. Because of the issues with defense and all that, we haven't used it a whole lot this year. One solution we had to some of the issues was to also have the ability to reset the gyro on the fly with another button press.
3) we use 4 PIDs for just the steering positioning. We went through some evaluation for finding the best allowable tolerance to give the best response and fluidity of control. We found that tightening the tolerance up too much caused a more jerky shift in movement due to the tight snaps to wheel positions....there needed to be a bit of play to account for the dynamism of gameplay. It noticably increased our effective responsiveness to sudden desired changes in direction once we found that tolerance sweet spot.

For our control, we use the dual sticks of the xbox controller. All translation is on the left stick with all rotation on the right. We also have some driver assist functions built in to some button presses for some more complex maneuvers. We also have an orientation swap feature that allows us to immediately shift whats considered forward and reverse that our driver can use whenever he chooses. Thats in addition to the field centric option toggle and the on the fly gyro reset.

I'm also very surprised at the lack of swerve drive this year. I understand it poses some significant challenges, but the game this year lends itself to a lot of advantages from slick swerve drive control. I'd be really interested in the final tally of swerve drive teams...but, right now this does seem to be a pretty exclusive club in terms of percentages.

Re: Who is using swerve for aerial assist and why
 

Watching 2451 during the elims at Midwest was a privilege.

Re: Who is using swerve for aerial assist and why
 

Of the 13 swerves mentioned (above and below):

1 made it up to quarterfinals
4 made it up to semifinals
8 made it up to finals
7 of them won

Impressive!


16 W
http://youtu.be/-8JvuI-0f7Q

368 W
http://youtu.be/fi68AQWPtCw

1640 W
http://youtu.be/J2sRILQ-foE

1717 W
http://youtu.be/Lk8CYkMSyMs

2067 S
http://youtu.be/DkqQwtXmgbQ

2451 W
http://youtu.be/r_xAUwlJuYA

2471 W
http://youtu.be/Ij6AubTx9M4

2481 W
http://youtu.be/I4AYeJGE5ds

2506 S
http://youtu.be/Cn-AmTfuPrs

2517 S
http://youtu.be/Lpb2IiGRMD8

2767 Q
http://youtu.be/e8Xh-uh01HI

2936 S
http://youtu.be/KzB8RZ9w8H4

4143 F
http://youtu.be/sYnsHDUAo1I

Re: Who is using swerve for aerial assist and why
 

Add 4143 to the list. They were in the finals at Central Illinois. I'm fairly certain 2506 belongs on the list too. They made it to the semi-finals at Midwest.

Ours is 4 wheel independent

We do not use field-centric

We use 4 PID's for steering

This is just a small sample size of what's out there, so I would venture to guess there's something in the ball park of 50-100 teams (~2%-3.5%) with swerve this year. 200 at best (~7%).

Re: Who is using swerve for aerial assist and why
 

https://www.youtube.com/watch?v=r_xAUwlJuYA

Watching them play was a thing of beauty. They were just completely unstoppable.

Re: Who is using swerve for aerial assist and why
 

Well. I wouldn't say they won that first one entirely without swerve.
;)

Re: Who is using swerve for aerial assist and why
 

Just to point this out the video you listed we were running on 3 wheels instead of all 4. (you can see us tilting a lot) Our front left swerve was destroyed after we got entangled with another robot and recived a direct catapult shot to the module. Here is a much better video https://www.youtube.com/watch?v=Lpb2IiGRMD8

2471 also has a swerve drive.

Re: Who is using swerve for aerial assist and why
 

I would be incredibly surprised if >50 teams used swerve this year.

Re: Who is using swerve for aerial assist and why
 

You have a point there haha