if u would like a more detailed drawing i would be happy to provide
This is team 1927's Swerve Module from 2009
The top sprocket is the drive sprocket, and runs all the way through the module. The second sprocket is the steering sprocket and is connected directly to the module.
The module is hooked to the bot by a bearing with a flange witch sits under the steering sprocket (further details are available if needed or wanted)
There were four of these modules on our 2009 robot. The left and right side were individually powered, with 2.5" cim motors running through dewalt transmissions, and the front and back were individually steered. This setup allowed us to have 4 different drive modes: 1. TANK- no steering/ left and right individually powered 2. ACKERMAN- front is steered / left and right individually powered 3. DENALI- front and back individually steered with left and right individually powered 4. CRAB- front and back steered together and left and right powered together
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