pic: 3rd Iteration of Sheet-Metal Chassis- Swerve

[PAR_WIG1350]

Originally Posted by AustinSchuh

I'd say that the flanges that you have on the frame are not nearly large enough. The should be at least 1" long, and probably closer to 1.5".

I'd also recommend switching the pairings of power and steering so that the two wheels on the short side are ganged together. This lets you car steer when driving with the long side forwards (when it is hard to skid steer), and skid steer when you are driving with the wide side forwards.

Also, think through what you are going to do for sensors very carefully, and draw them in. You don't drive a swerve without lots of sensors and control loops.

There is no reason that two wheels that are steered together should be driven together, in fact the opposite is true. If power/drive were to be kept as it is, the steering should be switched to the short side. If steering is kept as it is, then power/drive should be switched to the short side. Both of these options will allow for crab and car style steering, but the former in the long configuration and the latter in the wide configuration. Also, if the wide configuration is used, then skid steer can be used as a backup.