This is a picture of a robot Team Mean Machine built for an off season competition this fall. It utilized swerve drives.
This drive base has been discussed previously in a different thread here:
http://www.chiefdelphi.com/forums/sh...d.php?t=121672
I decided to make a new thread, so that it would be easy to find the links to the documents in question.
The programming and CAD designs can be found on git hub:
https://github.com/Tmm2471/Swerve
Here are the files as a zip file on google drive in case you don't like git hub:
http://goo.gl/YG7rQB
The CAD files are all in inventor format.
Since last time I posted to the other thread on this topic, the programming has been improved a bit. It was a robot-oriented control, and the robot was driving quite nicely. The software now adds two check boxes on the smart dashboard for the type of driving control that's requested. One toggles on and off the field-oriented translation. This is somewhat basic to program. Essentially, if the option is selected, then the direction given from the translation joystick (left stick) is added to the gyro heading so that the orientation of the robot on the field does not affect the direction of motion. If you press the joystick in a given direction, it moves that way in field space. The second check box is for field-centric steering. Instead of having the x axis of the right stick correspond to steering power, the right stick direction indicates which direction the robot will face on the field. The direction of the stick specifies the direction for the front of the robot to face.
Here is a short video of the robot running in its bare form, so it's easier to see the wheels.
http://goo.gl/5XdjyV
Here is a video of match play:
http://goo.gl/1l4ZQd
All questions, comments, and concerns, are much appreciated.