Quote:
Originally Posted by Chris Hapstack
I should clarify that the swerve train I'm referring to is more of the off-season, design-exercise type. Seems like it was the most popular thing to do this off-season. I'm more of a 6WD drop center guy myself, but figured it would be fun to try my hand at some swerve design while I still had free time. I have no idea if we'll be doing swerve this season, but figured I would post this anyway.
As for the tech specs, the entire base shown here is 43.5 pounds and a swerve module is 8.4 pounds. Definitely on the heavy side, but I was shooting for robustness. The frame would all be waterjet-cut, and the swerve modules themselves have 3 team-manufactured parts: a 3D-printed encoder mount, a (set of 4) standoffs done on a lathe, and a tube that requires 2 mill setups. By form factor do you mean "length vs width" of the base?
Do you think adding frame-mounted bearings to the tops of the Revolution Pro 2 vertical drive shafts would add stability in a helpful way, or just over-constrain things?
|
Form factor as in why did you do the
221 style swerve instead of the
Aren Hill style swerve?
As evidenced by the post above, I'm not too much of a fan of the 221 form factor anymore - it used to be the best method, but ever since Aren had decided that moving sideways wasn't a waste of time I think his form factor is a much better solution. I'd look into that style if you can.