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Unread 10-04-2014, 16:30
Jefferson Jefferson is offline
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AKA: Jeff Clements
FRC #0016 (Bomb Squad)
Team Role: Mentor
 
Join Date: Jan 2011
Rookie Year: 2010
Location: Mountain Home, AR
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Re: Swerve Drive vs Mecanum Wheel drive?

Quote:
Originally Posted by fox46 View Post
6 CIM, 2 speed, 2" wide natural rubber roughtop wheels? If you're going to champs I would love to conduct an experiment to prove or disprove this statement.
I don't know the detailed specs on the opposing robots.
We will be in St. Louis, but I have no interest in setting up an "experiment" where you attempt to buldoze our robot.

Quote:
Originally Posted by fox46 View Post
Where did your weight go then?? Weight doesn't just disappear- it is transferred. Furthermore, Ff = Fn * u + Fhys. So even if you are transferring your weight to only two rear wheels, your tractive force will remain the same.
At least some of the weight is transferred to the opposing robot.


Quote:
Originally Posted by fox46 View Post
So how do you differentiate between the performance of the robot and ease in driving- do they not go hand in hand? I think you just proved my point.
Additional functionality.
The robot operates in a robot-centric mode normally, When the driver initiates crab control, the gyro is reset and the robot is "field-centric" from the robot's orientation at that point. This gives the driver a twist input while in crab. If the twist input isn't used, it is the same drive code that we used for years before. If anything, it gives the driver one more thing to think about. It is, however extremely effective once mastered.
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