Quote:
Originally Posted by asid61
8.2lbs is a little much, but still realy good with everything on it.
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I imagine it would be incredibly difficult to get it to weight any less...
PG-71: 1.9
CIM: 2.82 lbs
4" wheel: 0.31 lbs
However you slice it, you pretty much have to have those components for swerve (we wont go into variants that chain together steering... that invites a compromise situation that I don't think these modules were designed for). Those 3 parts alone total up to 5.03 lbs, which is 61% of the weight of the module.
Of course, there's always the discussion on where to spend your weight budget, and how advanced drive trains like swerve play in... but that's probably best left to a different thread
This looks like a pretty awesome solution. Personally, instead of a PG-71 for steering, I would have liked to see an attempt made to incorporate the Denso Throttle Motor... we've been allowed up to 4 of them in the past, yet I think they are the most under-utilized motor in FRC so far! Of course, using them would probably require a complete gear box design as well...