pic: 4143 offseason swerve drive

[RyanShoff]

Here are the Creo files:
https://drive.google.com/file/d/0B9l...XFhZkQ2LUo2YVE

Code is here: (The code is a fork of 16's 2013 robot):
https://github.com/FRC-Team-4143/TMW2013

Video is here:
http://www.youtube.com/watch?v=OQ-9FsVKt-o

Weight is right at 50 lbs. (without bumpers or batteries, with full control system)


Features:
Andymark toughbox nano gear boxes with output reversed. 3" Colson wheels. Pivots are tapered roller bearings on the bottom and needle thrust bearings on the top. Vex Versaplanetaries are geared at 40:1 to steer. Minicim motors would stay within the frame perimeter, but the video was shot with full cims.

We modeled sliprings but never tested them. Counting the wires wrapping in code is working pretty good.

Special thanks to Bombsquad for advice and code. Also Team Neutrino's 2012 swerve was a inspirational design. Al Skierkiewicz talked sliprings with me for a long time. Ether's swerve papers were also referenced a few times...