Chief Delphi - Help with Swerve Drive

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- C/C++ (http://www.chiefdelphi.com/forums/forumdisplay.php?f=183)

- - Help with Swerve Drive (http://www.chiefdelphi.com/forums/showthread.php?t=133497)

PredaFran

25-01-2015 16:16

Help with Swerve Drive

1 Attachment(s)

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

Re: Help with Swerve Drive

Quote:

Originally Posted by PredaFran (Post 1433734)

*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

Re: Help with Swerve Drive

Quote:

Originally Posted by Ether (Post 1433740)

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

Re: Help with Swerve Drive

Quote:

Originally Posted by PredaFran (Post 1433741)

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

Re: Help with Swerve Drive

Quote:

Originally Posted by Ether (Post 1433742)

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

Re: Help with Swerve Drive

Quote:

Originally Posted by PredaFran (Post 1433743)

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

Re: Help with Swerve Drive

Quote:

Originally Posted by Ether (Post 1433746)

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

Re: Help with Swerve Drive

Quote:

Originally Posted by PredaFran (Post 1433749)

to the right too

What kind of driver interface do you have in mind?

PredaFran

25-01-2015 16:57

Re: Help with Swerve Drive

Quote:

Originally Posted by Ether (Post 1433755)

What kind of driver interface do you have in mind?

Smartdashboard

Ether

25-01-2015 17:06

Re: Help with Swerve Drive

Quote:

Originally Posted by PredaFran (Post 1433758)

Smartdashboard

Configured how? What is the interface presented to the driver?

PredaFran

25-01-2015 17:08

Re: Help with Swerve Drive

Quote:

Originally Posted by Ether (Post 1433760)

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

Re: Help with Swerve Drive

Quote:

Originally Posted by PredaFran (Post 1433761)

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

Re: Help with Swerve Drive

Quote:

Originally Posted by Ether (Post 1433762)

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

Re: Help with Swerve Drive

Quote:

Originally Posted by PredaFran (Post 1433766)

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

Re: Help with Swerve Drive

Quote:

Originally Posted by Ether (Post 1433768)

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

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