Quote:
Originally Posted by Dillon Carey
All of the wheels are steered together. The center wheel is dropped. All of the wheels are traction wheels.
I believe the part your missing is that the left and right sides are powered seperatley. This allows for operation similar to a normal 6WD drop center tank drive when all of the modules are pointed straight. However this still allows us to operate like a swerve with all modules steered and powered together.
Hope that helps.
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A traditional 4wd swerve chained in the same fashion turns in the wide orientation, you just did the 6wd to shift the turning orientation to long? Interesting solution to the problem. Did you evaluate the cost/resources of doing that versus splitting up the steering/driving more?
EDIT: No matter what power arrangement, the robot won't easily turn in place in the long orientation. Was the time it takes for the wheels to rotate too long for your liking?