paper: 1625 Swerve Through the Ages

[Dillon Carey]

Originally Posted by MattC9

Ok so how did this effect you chain run? Did you have to adjust the sprocket every time you put another spacer in? And since you only had 4wheels on the ground at a time were the front 2 wheels and the back 2 wheels in sync? and how did that work?

(sorry for all the questions, this is really interesting)

First of all, don't worry about asking questions.

When we added spacers to adjust the module height, we also flipped spacers around to adjust the sprocket height. Even if it was slightly out of alignment it wasn't a big deal, because of how long of a chain run it was.

All of the wheels were always pointing the same direction. There was one loop of chain that went around the entire robot.

Originally Posted by Garrett.d.w

I would like to ask you how you guys set up your controls (aka, which buttons did what).

We had 2 joysticks, which functioned just like a normal 2 joystick skid steer system. when you pulled the right trigger, it switched to single joystick swerve control. We added one other mode before champs, we called it 469 mode. we designed it specifically in case we had to play defense on 469. when you hit the top button on the right joystick, the modules turned 90 degrees and locked there. Then when you moved the joystick left or right, it strafed left and right. I ended up using only our "469 mode" and normal 6 wheel drive all the way through champs and IRI, barely touching the true swerve mode.

(This is where the idea for the 2011 lobster drive started)