Quote:
Originally Posted by Ether
Did you use independently steerable swerve modules for the Ackermann and compute the inside/outside Ackermann steering angles in software, or did you design a mechanical linkage capable of doing that?
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We used a mechanical linkage to do it. It was actually 4 wheel Ackerman (don't know if this setup has a different name). The front wheels would turn one way and the back wheels would turn the opposite way, while the inside and outside wheels also compensated for the variable radii of the turn.
We did this for Lunacy and it was really cool when it was working however we had some massive issues with some couplings we were using (the tolerance needed to be tighter than we thought) which prevented us from ever getting to really show it off in competition.
~DK