Swerve Drive CAD

[echin]

I have a pretty much complete BOM, and 1 module comes to arround $500... Almost half of that is shifting parts or parts needed to use the shifter.
What do you mean by drawing the encoders in?

[Jefferson]

I think he's talking about the wheel rotation sensing. We use US digital magnetic encoders.

[echin]

I don't think that there are any CAD files for the encoders that I'm using, but there may be some somewhere. I do know the dimensions, and I made sure that they fit. Here's a link: http://www.digikey.com/product-searc...s=AMT102-V+KIT

[Jefferson]

Just make sure you have a controls plan for the encoders. Without absolute values, you'll either need the modules in a known position when it's turned on or have a homing routine. That is why we use analog for rotational position control whenever we can.

[Bryce2471]

The swerves my team produced this summer used two quadrature incoders from USD. Theyare not absolute, but they are very precise, and they have a built in homing tick. They work nicely, but when I put them in the CAD drawing, they almost didn't fit. That's because the swerves are compact, they only take up a 6" by 6" box.

[echin]

We used the CUI encoders on our climbing arm this year, and didn't have any problems with them except for user error. I would have used the USD encoders, but they cost almost twice as much. Both encoders should have enough space. One is mounted on the top, and the one on the bottom is farily far away from the caster.