Quote:
Originally Posted by Gdeaver
Ok, for the teams that did swerve for the first time this year, was it worth it. Do you feel that it gave you a competitive advantage?
|
Yes,
We did some off-season development of swerve drives, and we were very glad that we did. We already had the code nailed down, and enough swerves for the practice bot, so we just adjusted the design slightly, and pumped out six more for the comp bot. They have had great performance overall, and have had no mechanical failures!(knocks on wood)
One thing we have been displeased with is the optical encoders. The ones we use have an index pulse, but can still get off by a significant amount for a noticeable portion of the match. Unless we stop to run a homing routine.
We are testing magnipot absolute encoders from Digi-Key on the practice bot and we will probably be changing out the comp bot's encoders for them at champs.