Chief Delphi - pic: SWREV3 Drive

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- - pic: SWREV3 Drive (http://www.chiefdelphi.com/forums/showthread.php?t=129620)

Toa Circuit

27-05-2014 22:50

pic: SWREV3 Drive

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Christopher149

27-05-2014 22:51

Re: pic: SWREV3 Drive

Reminds me of this (http://www.chiefdelphi.com/forums/sh...ad.php?t=21066) Lego swerve from 2003, only yours is cooler.

wyrzykowskij1

28-05-2014 18:00

Re: pic: SWREV3 Drive

What programming language did you use? Just the Labview based one, or something else?

Toa Circuit

28-05-2014 21:46

Re: pic: SWREV3 Drive

Quote:

Originally Posted by wyrzykowskij1 (Post 1387773)

What programming language did you use? Just the Labview based one, or something else?

The LabView Based EV3 Language... Sadly. Somewhat frustrating. I can send the file if you're interested.
NXC isn't really released yet and I was struggling with LeJOS.

orangemoore

28-05-2014 21:58

Re: pic: SWREV3 Drive

Quote:

Originally Posted by Toa Circuit (Post 1387797)

The LabView Based EV3 Language... Sadly. Somewhat frustrating. I can send the file if you're interested.
NXC isn't really released yet and I was struggling with LeJOS.

Could you send it to me? I would love to take a look.

Toa Circuit

28-05-2014 22:36

Re: pic: SWREV3 Drive

Quote:

Originally Posted by orangemoore (Post 1387800)

Could you send it to me? I would love to take a look.

It'll be here for a while:
https://www.dropbox.com/s/zz0fi4po8gbz9vd/SWREV3.ev3
Let me know if there's issues opening it... It is a very big program. (Lots of MyBlocks. Lots of them.)

Abhishek R

30-05-2014 16:32

Re: pic: SWREV3 Drive

This is really cool. Is there a reason why you used 3 motors, would it not be possible with 2?

Toa Circuit

31-05-2014 10:22

Re: pic: SWREV3 Drive

Quote:

Originally Posted by Abhishek R (Post 1388005)

This is really cool. Is there a reason why you used 3 motors, would it not be possible with 2?

Swerve is impossible with 2 motors- at least if you're wanting to be able to turn as well. Use 3 motors, and you can do some limited movement, but then it gets messy, and you can't move in X,Y, and W truly independently.

I'm using four motors (A EV3 Medium motor is a bit hidden behind the brick, and I had to use a NXT motor instead of a second EV3 medium motor to rotate the second module.)- each wheel is independently driven and steered.

Flimsor

02-06-2014 00:50

Re: pic: SWREV3 Drive

Quote:

Originally Posted by Toa Circuit (Post 1388045)

Swerve is impossible with 2 motors- at least if you're wanting to be able to turn as well.

You could theoretically gear the swerve modules to turn together since all of them have to face the same direction to go anywhere anyways. You'd just power that with one motor, then another geared setup but to drive the wheels you want to.

Toa Circuit

03-06-2014 15:56

Re: pic: SWREV3 Drive

Quote:

Originally Posted by Flimsor (Post 1388244)

Such a setup can only traverse along the X and Y axes. Any rotational motion is coincidental or caused by drift.

Andrew Schreiber

03-06-2014 16:00

Re: pic: SWREV3 Drive

Quote:

Originally Posted by Flimsor (Post 1388244)

http://www.chiefdelphi.com/media/papers/2785 May be of interest to you.

I'm sure Nate is hovering around here somewhere...

Abhishek R

03-06-2014 17:21

Re: pic: SWREV3 Drive

Quote:

Originally Posted by Toa Circuit (Post 1388457)

Such a setup can only traverse along the X and Y axes. Any rotational motion is coincidental or caused by drift.

Ah I see what you mean. Right, I was assuming only those two axes of motion, and not any rotational movement while traversing in a certain direction. So you would need at least three motors for a full swerve. I was thinking along the lines of what Flimsor said.

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