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Unread 30-04-2015, 15:26
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FRC #2067 (Apple Pi)
Team Role: Mentor
 
Join Date: Oct 2008
Rookie Year: 2008
Location: Guilford CT
Posts: 111
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Re: Starting out with Swerve Drive.

Our (Team 2067, Apple PI) swerve drawings and Labview code are posted on this page:

http://www.applepirobotics.org/useful-links/

We have used a similar system the past two seasons, It has been mechanically trouble free. It is based on using the older style 221 swerve modules, with custom gearbox for drive and steering inputs.

It is heavy, which may be a focus of offseason development, but we like the robustness. The COTs components (221 modules and many gears, and motors), have run for 2 seasons of districts (over 160 matches, plus 10's of hours of offseason demos, scrimmages and messing around) with little to no visible wear. (except for the wheels themselves last year)

We have limited machining capability - so the design is crude but can be made if you can drill a hole with some precision.

The Labview code posted is our third generation, a fourth will be posted later this year, but the changes are minor. We know of a few teams that were able to use this code out of the box.