Quote:
Originally posted by OneAngryDaisy
Hey- I've heard about swerve drivetrains and last year I saw Chief Delphi's bot- man did it ever drive sweet.. I've never heard any logic explaining how it works- could someone explain it to me or link me to a page.. Thanks..
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In a 'swerve' drivetrain each of the 4 wheels has the ability to pivot in the vertical axis. So far, Chief delphi (6 I think) holds the record for the most complex setups including the fully independent 4 wheels steer setup in 2001 using traingle tank treads where each of the 4 could pivot independently of each other. For our first attempt at 'swerve' last year we linked all four drive modules to each other so they pivoted together. Then you place a pot on one of them to pick up position. We converted the rectangular coordinates from the joystick to polar to get a vector that we wanted the wheels to point to. When it is all said and done a 4 wheel steer robot is extremely manuverable and can get out of very tight spaces. We took it a step further and made the drive modules easily replaceable or 'modular' an approach everyone should look into doing after we noticed the modules on wildstang 2001 and how they had spares ready to go in just minutes. For more info, I posted our gearboxes in the whitepapers and the full code for the steering on the Codex and various places on this site under the name pegasus.zip
Happy swerving, many teams can help you on this but each of us has a few secrets up our sleves
