Help with Swerve Drive
 

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

Re: Help with Swerve Drive
 

swerve has at least 8 motors (4 steering + 4 propulsion). which set of 4 are you referring to above?

Re: Help with Swerve Drive
 

Sorry, 4 motors in the wheels, and 2 that move the chains that steer

Re: Help with Swerve Drive
 

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?

Re: Help with Swerve Drive
 

Yeah

Re: Help with Swerve Drive
 

when you steer the front right wheel to the right, does the rear right wheel steer to the right also, or to the left?

Re: Help with Swerve Drive
 

to the right too

Re: Help with Swerve Drive
 

What kind of driver interface do you have in mind?

Re: Help with Swerve Drive
 

Smartdashboard

Re: Help with Swerve Drive
 

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

Re: Help with Swerve Drive
 

wait, sorry for that, we are going to use the FRC driver station

Re: Help with Swerve Drive
 

So, no joysticks. No Xbox controller. Just the FRC Driver station?

Re: Help with Swerve Drive
 

ohh, didnt get that, we are going to use the 3d extreme pro joystick for the driver, because its 3-axis

Re: Help with Swerve Drive
 

What does your drive team want each axis to do?

Re: Help with Swerve Drive
 

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

Re: Help with Swerve Drive
 

Does "y-rotate" mean the Z axis (twist axis)?

What decision-making process did your team use to arrive at the above driver interface?

Has your team ever used a 3-axis joystick driver interface like this before?

Re: Help with Swerve Drive
 

Readers: if you or your team has experience with a chained-steering crab/swerve hybrid like this, would you please share your thoughts/experience about driver interface?

Re: Help with Swerve Drive
 

yeah, typing error there, Z rotate, this is our first year with a three axis controller, since this is the first year that we need it, we have been using a two axis last year

Re: Help with Swerve Drive
 

Francisco,

I'm surprised there have been no responses yet.

While you are waiting, here is a thread that might give you some ideas about alternatives to a single 3-axis joystick:

http://www.chiefdelphi.com/forums/sh...d.php?t=133468

Re: Help with Swerve Drive
 

Im Still waiting for help, the time to build is near its end and i have been reading everything i can, still not find any help at all.