Swerve Drive Modules

[msimon785]

Originally Posted by buildmaster5000

Others have said this and I will echo their sentiments: if you do swerve drive, it needs to be reliable, and built like a tank! We spend many hours at our (only) competition fixing little things that kept creeping up on our swerve drive system. Also, I have trouble believing that the module you disigned will hold up against any amount of side load (imagine a 200 lb robot traveling 20 fps raming you at a dead stop. If you are moving, that net speed goes up, and bumpers will not do everything.) without torquing or just sheering the ouput shaft. Personally, it was really a nice feeling to have the bottom assembly of the WildSwerve modules there, where we could not sheer the output shaft.

In addition, decide on a control scheme and programming strategy, and if at all possible, have the driver be the programmer. I both programmed and drove my team's swerve drive this past season, and I was able to quickly and easily diagnose software problems just because I knew the program so well.

If you are interested, I can point you to the team code from this year, as well as answer any questions you have via PM.

I really like that idea. Our current driver is graduating this year and our programmer (at least the one programming the swerve) is going into 11th grade with me. (next year will be my 5th year, so I have quite some experience.) I will talk to him about driving. Also, does your team use a 3 axis joystick or 2 axis and a potentiometer/dial? And we have 1717's code (on their website) so I think we're okay with regards to reference.