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Unread 20-03-2011, 21:42
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Clem1640 Clem1640 is offline
Head Mentor
AKA: Clem McKown
FRC #1640 (Sab-BOT-age)
Team Role: Leadership
 
Join Date: Mar 2009
Rookie Year: 2006
Location: Downingtown PA
Posts: 249
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Re: Swerve Drivetrain.

2011 is our 2nd year of doing Pivot Drive. 1640 is very satisfied with the performance of this drive-train. Our drivers love it! We've designed and built our own. Info is available at:
http://wiki.team1640.com/index.php?t...II_Drive_Train

1640 has taken the approach of independently driving and steering each wheel. This puts a lot of investment into the drive-train, but also provides a fly-by-wire flexibility. Drive modes are programmable. The robot has mecanum agility (or better) with tank traction. A hell of a combination.

This is a great drive-train, but not easy to build or program. Many teams which start a Pivot program fail and abandon it. The AndyMark modules are probably a good starting point.
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Clem McKown
Head Mentor - FRC 1640 & FTC 7314
Chairman - Downingtown Area Robotics