Quote:
Originally Posted by Joe Johnson
Side note: If you are a team thinking of doing swerve for the first time, seriously, buy the mechanical bits first, get them mounted to a chassis (including your sensor scheme) and get that chassis in the hands of your coders and then your drivers. SO many teams that try swerve for the first time have such a lousy experience because they take so long getting the mechanical hardware designed and debugged, the coding team barely has time to get anything working yet alone giving drivers stick time -- and time to slap the coders upside the head for the goofy User Interface they've most likely come up with ;-)
Point is that it takes iteration loops to get this right and those take time. Don't be learning lessons during you qualification matches. /end soap box rant/
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I completely agree with this. We did swerve this year for the first time and it is VERY programming intensive. Also agree with Anthony and 221 being awesome. We went through 3 or 4 different control schemes and we're still not done. It's an AMAZING drivetrain but it takes a lot of code to make it work and work well.
Seriously, back to these gearboxes. How do you handle the power leads being next to the output shaft when you create a gearbox? How do you mount the gearbox to the output?