Coaxial Swerve Derivation with Paired Modules

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Coaxial Swerve Derivation with Paired Modules

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15-05-2014, 16:47

Clem1640

Head Mentor

AKA: Clem McKown

FRC #1640 (Sab-BOT-age)

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Join Date: Mar 2009

Rookie Year: 2006

Location: Downingtown PA

Posts: 249

Re: Coaxial Swerve Derivation with Paired Modules

Some benefits of pairing swerve modules would be:
* Ability to drive (2) swerves with (3) CIMS
* Easier to add gear shift

But, what kind of drive action/control are you seeking: Crab or Snake? Either could be accomplished through pairing, but not both together.

For example of crab & snake, see:
http://www.chiefdelphi.com/media/papers/2400
http://www.chiefdelphi.com/media/papers/2401

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Clem McKown
Head Mentor - FRC 1640 & FTC 7314
Chairman - Downingtown Area Robotics

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