Quote:
Originally Posted by CalTran
If we had to make the decision right now, we would chain each side's module together. Our reasoning behind this is because we believe this iteration is the "simpelest" method of swerve while maintaining some amount of maneuverability. As far as we have been able to tell, the added complexity of 4 independent modules for the added driving tricks added are not worth the time or research.
Is this the right decision? If you could provide personal examples or logical reasoning as to why independent modules are a necessity vs. keeping sides tied together than that would be appreciated.
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We use fully independent modules primarily because it provides more turning options, including spinning and snaking in both orientations. I don't think snaking in both orientations in most games, though we did use it this year: long for barrier crossing and some defense and wide for ball and bridge manipulation. Spinning can be valuable if you don't have a turret, though. As always, you should look at the stationary turning radius of the drivetrain you choose.
/..\
\../ ... Spin
/../
\..\ ... Snake
Quote:
Originally Posted by CalTran
Thirdly, wiring. The obvious implication of swerve modules are that they are not infinitely rotating, due to the twisting of the power wires. What we would like to know is if it is possible to make one that would be infintely rotating, and how one would design for this. If not then how does one ensure that the position and rotation of the wheels are correct?
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As Alan said, you don't need slip rings or wires rotating at all. All you need are power take-offs to transmit drive and steering rotation co-axially. We do it with one belt each, plus a set of bevel gears and a chain for each drive, 8.6lb each. (
FRC 1640 Pivot Modules 2012)