Thread: Swerve Drivetrain.
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Unread 19-03-2011, 01:21
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Mk.32 Mk.32 is offline
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AKA: Mark
FRC #2485 (W.A.R. Lords)
Team Role: Engineer
  
Join Date: Jan 2011
Rookie Year: 2011
Location: San Diego
Posts: 770
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Swerve Drivetrain.
Hello all, Team 3647 here.
We are done with our 2011 season and moving to prepare for our next season.
One thing we saw that really neat was swerve drive systems.
So we want to build one on a test bot to experiment and test.

After looking around we found the andymark modules:
http://www.andymark.com/ProductDetai...ctCode=am-0760
We also have a basic idea of how rig everything up.

We are planning on having the left side wheels and right side wheels hooked to separate power trains. Then the top right and bottom left wheels linked together for turning and then the top left and bottom right linked together for turning. So we can have all the wheels at 45 degree angles so we can spin in place and then strafe with turning the wheels 90 degrees.

So my question what do you guys think? How do you run your swerve drives? Also how do you have your controllers setup? What gearing ratio do you use? Also any documentation would be greatly appreciated.

Thanks for all the help.
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