Quote:
Originally Posted by IceStorm
One of my biggest questions was how do teams that do coaxial crab run the wires down to there encoders in the actually swerve module? without the slip ring idea above i would think they could pretty easily get wound up around themselves and one of the advantages to the coax crab in my mind would be to not have to limit your self to a range of motion.
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If you can get 360 degrees, then I would say that is more than enough. My team's swerve can do approx. 720, but we found it useless and limted it to about 200ish. Once you turn them more than 180 and go forward, it's the same as turning the the other way as much and you would have passed 180 then powering backwards.The other thing is that you don't necessarily need encoders. This year it was pretty much a necesity because of traction control, but there are games where you can get by fine without them. I would design it assuming you need them, then maybe evaluate whether you need them when the game comes out. If you have coax anyway, you could put the encoders outside of the modules where your motors are, then figure out the speed based on gear ratios.(this year was a little different than most because of slipping).