paper: Possible swerve maneuvers by configuration

[Nate Laverdure]

Thread created automatically to discuss a document in CD-Media.

Possible swerve maneuvers by configuration by Nate Laverdure

[Jared Russell]

Ah, the Unified Field Theory of Swerve.

Great job!

[Gdeaver]

Our team has done 4 wheel independent steering, 4 wheel independent drive for 4 years now. There have been many discussions of the positive and negative value of swerve in all it's forms to First competitions. However if you have never experienced swerve it is hard to visualize the movement and possibilities. This season we have refined our swerve code to eliminate some problems in the past years. The following link is to our website and down on the right hand side is a video of our driver just messing around testing a new code update. Not really doing anything but the video shows allot of the movements and behavior that are possible. Also the bumpers are not on so wheel position can be observed. This may help with the visualization of the chart posted.
http://wiki.team1640.com/index.php?t...IX_Drive_Train

[Nate Laverdure]

Originally Posted by Gdeaver

Our team has done 4 wheel independent steering, 4 wheel independent drive for 4 years now.

Thanks, I've fixed this (and a few other things) in Rev A. If anyone can fill in the gaps in the "notable examples" section, I'd be happy to add them.

[viveksridhar]

I have a question about the swerve drive you've built. I'm looking at the drawings you posted on the wiki (http://wiki.team1640.com/images/b/b2/Proto6c.pdf)

I'm a bit confused about which motors are doing what. There seem to be two motors mounted vertically facing upwards, one in line with the wheel and one to the side of the wheel. Which one is driving the wheel itself and which is acting as the pivot, and how do you make a vertical motor drive a wheel in a perpendicular direction? Also, wouldn't it make more sense to have the wheel driving the motor mounted horizontally rather than vertically, and directly drive the wheel?

[viveksridhar]

Never mind, I just realized there's a more detailed explanation later in that page. Sorry about that!