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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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Yes it is possible for a wheel to spin limitlessly.
This is a CAD picture of a swerve module:
And this is a CAD picture of our entire robot's drive frame:
We mounted the CIMS next to the module and then connected a chain from the CIM to the smaller shaft on the module. The CIM controls the motors speed. We then attached two window motor to two sets of swerve modules, (one window motor for each side) by chain, in order to turn.
If you would like to just move around the field and have the robot facing the same wall for the entire match then 2 motors controlling steering (one for each side) works great. But if you want to be able to turn the robot, then you might want to think about changing to 4 motors steering. (one controlling the rotation of each wheel).