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Originally Posted by Bryce2471
Thanks for the quick response. I like your simple code solution, and it looks to not make a large difference in your driving performance. Do you use drive encoders? Sense your already raping wires anyway, it seems like it might be worth it for you guys.
I'm also curious if you give me an estimate amount of time spent on machining and assembling all those custom parts. we spent quite a bit of time on ours, and they only require five parts to be cut on the CNC mill.
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To answer your encoder question:
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Originally Posted by John Duffy: Midwest Swerve Tech Paper
Numerous redesigned elements and upgrades during the season included revised dead stops, cooling vents that force airflow over the motor, altered mounting plates, absolute encoders and encoder mounts for turning, new gear-end plate to cover the shaft and gears, added encoders to the CIMs themselves, magnetic tooth counters on the gear.
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So magnetic tooth counters were mounted to measure the speed of the wheels. There is an encoder mounted above the wheel mounted to the banebot motor assembly (which you can see in the CAD image) which measures the rotation of the modules.
As far as an estimate of hoe much time was spent on machining, I can tell it was a lot. I cannot give a good estimate hour wise, so I'll leave that for Kevin or a student, but we work at a company called Genesis Automation who we would not survive without and have access to CNCs, quite a few mills, lathe, bandsaw, etc.
-Nick