Happy New Year.
Here's another swerve implementation - there have been a lot shown this Fall! This was used by Apple Pi - 2067 in 2014 competition.
Our CAD can be found here:
http://www.applepirobotics.org/useful-links/
under the "new mechanical drawings" tab.
Our code was previously posted by Cory here:
http://www.chiefdelphi.com/forums/sh...highlight=2067
and also can be found from our website.
With all the different swerve drives shown this Fall I don't expect too much attention here, but it worked well for us last year and it was our swerve!
Overview: used original style 221 systems revolution COTs module. Steering and drive trains in a parallel plate gearbox, single CIM and Versaplanetary used.
1 CIM drive geared to about 6.6:1 on drive and between 90 and 120 RPM for steering (two different versions between practice and comp - and 1 module was swapped between robots mid year).
Steering encoder was on top in a 3D printed mount - not in CAD
Module weight was a heavy 11-12 lbs. but also used to rigidize frame corners.
Comp robot had over 100 competion matches plus hours of use off season. Only mechnical issues (twice) were due to chain coming off due to misassembled snap ring (KOP wheel wear required changing out several times).
This was our second swerve system assembled but first used in competition. V1 was made from a 4x3 extrusions in the 2012&2013 offseasons.
It will be interesting to see if there will be an increase in # swerve drives with the new full COTs solutions out - of course game dependent.