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Unread 12-05-2015, 10:14
Dunngeon Dunngeon is offline
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FRC #0973 (Greybots)
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Re: pic: Small CIM in wheel swerve

Quote:
Originally Posted by Andrew Schreiber View Post
Ah so it is just the "moar powah" claim.

I thought there might be more to it. I'm ok trading some pushing power for simpler modules. (As a programmer I find designing with bevel gears to be far more difficult than slip rings) If you're pushing with a swerve you're probably doing something wrong.
Yeah, at its core it's about the power, but not exclusively for pushing. With a swerve, I'd rather avoid contact as you said. That seems to require that a robot be nimble, of which quickness/low-end acceleration seems to play a large part (2014, 2013). Maybe I'm overestimating the importance because I've never fielded a swerve before. Also, my opnions are based upon swerve in games like 2013,2014, where there was a need for quick direction changes and occasional pushing to get to a ball/traverse the field. For games like 2012 and 2015, sacrificing 10A wouldn't matter.

Out of curiousity, what else are you thinking when you said there's "more to it"?

Quote:
Originally Posted by asid61 View Post

The thing about 4 wheels on the ground makes perfect sense, but unless you're planning on having a pushing match halfway on a table it's largely irrelevant. Just use sailcloth for bumber material and slide away perpendicular to the opponent's robot; presumably that doesn't take all 4 motors to do, and once you're on the ground you have plenty of power to flee.
I used an extreme case to make the point about the power loss, it rarely occurs to that extent. Generally it's just a loss of a few pounds of normal force on a few wheels.
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Last edited by Dunngeon : 12-05-2015 at 10:21.
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