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Unread 20-03-2011, 20:18
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AKA: Eric Diehr
FRC #1716 (Redbird Robotics)
Team Role: Engineer
 
Join Date: Feb 2005
Rookie Year: 2003
Location: De Pere, WI
Posts: 183
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Re: Swerve Drivetrain.

I recently made a vex drive train that had 4 independently driven wheel. This allows it to have multiple drive modes because the wheels can be programmed to be at whatever angles you wish. I created 4 drive modes based off of a paper in 1640's wiki.

You can see a video of the robot working here: http://www.youtube.com/watch?v=s3gb5n_I7vc
I have it set up so I can switch between Twitch(tank), crab, automobile, and snake modes on the fly.

I would strongly recommend reading team 1640's Wiki and this paper before deciding on how you are going to power the wheels.