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Re: Swerve designs
For a 4 wheel drive independent swerve we use 4 0 - 360 continuous rotation absolute encoders with 10 bit analog output for stearing. We do not control individual drive wheel speed with encoders. We do have a tach on each drive wheel. We use a cheap analog IR analog reflectance sensor plugged in to a digital input. The roborio does the digital chopping. Pololu QTR-1a 's for $4.25 a pair. We use the tach's for distance measurements. This year we went with a navx-mxp board for autonomous navigation. Swerves do not like to drive straight.
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