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Unread 28-03-2011, 16:02
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Re: The Hardest Drive System To Program:

Quote:
Originally Posted by davidthefat View Post
Now, for the people that said swerve drive is hard to drive with, can you explain why? I see no reason why it would be hard to drive at all. IMHO it would be harder to maneuver a 6 wheel drive than a swerve
It's mostly just how to make it intuitive. There are so many options, and orientating them so they work reliably and understandably for the driver isn't always an easy task, depending on the driver, game/strategy, etc. I know for us, we haven't done much with true 3DOF control (my oversight, Ether), but there are still a lot of variables to play with.

Quote:
Originally Posted by Josh Fox View Post
That being said, I feel like having a set speed that the robot rotated at might not be the most efficient way of doing things.

I'm not sure though and I could be wrong, I'm not very experienced with the programming/control of swerve drives.
We've used fixed-speed spins on our swerve for 2 years. It's worked quite well for us, but our driver only really uses them in specific cases (aiming in Breakaway and turning the heck around in LogoMotion), with crab and snake covering most of the direction changing. I know a few other swerve teams do it this way, but others may well have variable speeds. Lots of options.

Quote:
Originally Posted by WizenedEE View Post
4 CIMS and then 1-4 banebots/what have you. And it's not like the metal doesn't weigh anything; for a 6WD, there's basically just two gear boxes, then the six wheels and chain, a swerve drive has four gear boxes (more if there's gearboxes on the wheel rotators), and then supports for each wheel. I'd estimate an extra 10-15 lbs for a swerve drive. Then again, I've never really even seen one
Our modules are 9.1lb each.
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