Team 2451 - Pwnage - Swerve Simulation Game

[mr. giggums]

Originally Posted by ekapalka

Its beautiful to watch it spin while driving. Its a little fast to make out, but do the wheels themselves never turn more than 180 degrees? I would love to see how that works

On our actually robot the wheels are allowed to turn a little under a full revolution (330 ish degrees). For the robot code I have algorithms to deal with this but on the simulation code I just made the wheels point to where I want them to be. If you are world's, come to our pit and I'll be happy to fully explain how it works. If you aren't able to come to world's, I may be writing a white paper on the code when ever I have the time.

Originally Posted by Joel Glidden

My burning question is about your source for the internal gear (20 DP x 48 teeth) used in your swerve module. Did you guys make them yourselves, or did you customize a COTS internal gear?

I believe it was done on a wire edm, but I'm not sure. I'm programming not mechanical, so I can't tell you for sure. If you can't stop by our pit at world's, then you can try to ask in this thread.

Originally Posted by Various People

It moves fast

I am working on changing this along with some other things, on the way down to world's.