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Unread 04-04-2011, 17:28
buildmaster5000 buildmaster5000 is offline
Trying to program the swerve drive
AKA: Alex
FRC #2421 (Rolling Thunder Robotics)
Team Role: Alumni
 
Join Date: May 2009
Rookie Year: 2009
Location: Northern Virginia
Posts: 207
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Re: The Hardest Drive System To Program:

Short answer: Swerve drive with 4 independently controlled wheels.

Long answer: Swerve drive with 4 independently controlled wheels that have a limited range of motion. This forces the programmer to limit how the wheels will be pointed as to not tear out the wires leading to the motor powering the wheel (CIM motor in most cases.) It also requires the wheels taking a specific path in order to do this. This path is not necessarily the shortest and most direct, but it should be no more than 180 degrees of travel. An example of this is the attached picture, a portion of team 2421's creation this year. If someone wants to see the code for it, it is available here. Feel free to PM me with any questions you may have
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__________________
-Alex



2010 Washington DC Regional: Engineering Excellence Award