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#46
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Re: Team 2471 swerve drives
Very impressive drive system. Now that you have one iteration done and currently testing, you can continue to develop and make improvements to put yourselves further ahead than a large majority of teams for the 2014 season (assuming that a swerve drivetrain is beneficial next year...) Abuse it until you find what breaks!
I am curious about the Black and Decker gearboxes you used. Do you have more details on what model you purchased and what modifications you needed to make? I'm a fan of cheap off the shelf components like this. I don't believe that I've ever helped construct a FIRST robot with a drivetrain that weighed less than 35 pounds. I would argue that reducing the weight of the upper structure of the robot is much more important. If you have a 28 pound drivetrain and 92 pounds worth of other mechanisms/components, then the drivetrain is not the part that needs to be redesigned. |
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#47
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Re: Team 2471 swerve drives
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Last edited by Bryce2471 : 20-11-2013 at 01:46. Reason: spelling |
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#48
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Re: Team 2471 swerve drives
While being pushed from the side it does increase traction, however from what I understand it does not increase traction while pushing head on. Regardless, swerve can run super grippy wheels that mecanum cannot(2" wide rough top).
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#49
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Re: Team 2471 swerve drives
Where is the 28 pound number coming from. OP says it weighs 37 pounds in his first post.
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#50
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Re: Team 2471 swerve drives
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#51
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#52
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#53
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Re: Team 2471 swerve drives
Based on our swerve and 1717's, I'd say you can gear your turning faster. Easily in the 180-200 rpm range and get a responsiveness gain.
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#54
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Re: Team 2471 swerve drives
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On a side note, here is a render of a future frame I CAD'd. It is built with a 110" perimeter. The swerves are 3" wide and 9.375" long. Sorry for the low quality render, but it was my first time trying to making a render. ![]() |
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#55
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Re: Team 2471 swerve drives
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#56
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That's pretty cool. It seems much easier to build because the parts are more spread apart! Last edited by yash101 : 20-11-2013 at 20:16. |
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#57
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Re: Team 2471 swerve drives
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When turning, the current heading is updated to the current compass. When not turning, the PI loop is closed loop to hold the heading (which helps reduce affect of gyro drift). At initialization, the robot snaps a zero heading. At any time the driver can press a "hat" button to command the heading to be one of the primary orientation (plus maybe feed station). The PI loop will drive the orientation while the driver continues to command XY translations. We have this working with our asymmetric Killough drive, but only have about 30min of testing under our belt. Focus has moved to a similar fusion PD loop for X and Y with a follower wheel for velocity error P and an accelerometer for the differential error D. |
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#58
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Re: Team 2471 swerve drives
This is partially off topic, but if you were trying to lock direction/orientation using a gyro or accelerometer, would you use a coprocessor or would you use the cRIO? Don't you need to continuously monitor it to make sure that the results are accurate? Also, what about some mechanism that works like an array of optical mice? I guess that the FPS would be a tad high for the mice sensors, but it should be able to gather movement!
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#59
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Re: Team 2471 swerve drives
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#60
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Re: Team 2471 swerve drives
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