16-12-2016, 13:34
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no bag, vex only, final destination
AKA: Pinecone
 FRC #0228 (GUS Robotics); FRC #2170 (Titanium Tomahawks) Team Role: Mentor
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Join Date: Dec 2008
Rookie Year: 2006
Location: Glastonbury, CT
Posts: 7,601
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Re: pic: 4143 differential swerve concept
Quote:
Originally Posted by Nuttyman54
First thought: This is going to be impossible to make a module drive straight. A very small speed differential between the two wheels will make this turn for any reasonable driving speed gearing.
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I think this depends on how low-friction the bearing setup for the steering is. Going with a more high-friction solution (i.e. a big hunk of close fit Delrin) could provide enough resistance to prevent slight differences in speed from spinning the module. Combine that with some closed loop velocity control between the two wheels, and I think it's a solvable problem. Not saying it isn't more trouble than it's worth, though.
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