Quote:
Originally Posted by sanddrag
Hey Adam,
Thanks for making the CAD available. I have a couple questions after looking at the CAD.
1. It looks like the window motor plug intersects/conflicts with the coaxial tube. How is it in real life?
2. How did you address the issue of backlash/slop in the window motors?
3. Are there any issues with the midline of the wheel not being at the axis of rotation?
Thanks.
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1) We cut the window motor connector off and soldered to the exposed leads.
2) There was little backlash between sensor and wheel, so the control loop handles this somewhat. Swerve is much less about precise straight and much more about continuous fluid motion. that being said, I drove 1717's 2011 bot (not same layout, but same steering gearing as their 2012 give or take) and the steering felt way more responsive. Our robot responded well, but it was a bit fuzzy compare to theirs in that regard. I bet their drivers felt like they had a bit better precise control. That's the difference between 500 series motors and a window motor though.
3) None that we noticed, it makes packaging a lot nicer.
Swerve was an awesome learning experience for us, but we will not be doing it again for season. Our team is very small, but have lots of resources and work hard (that's how we got those resources). Even with that though, we feel we'd field a more competitive simpler robot.
We'll let 1717 keep it going.