The in-wheel swerve shifter!

[AdamHeard]

Originally Posted by Madison

Would you happen to know of a source for one-way bearings that fit in typical FRC drives and are rated for the loads we see?

I would run 2489K23 on the CIM and 2489K5 on the module input.

Both have quite comfortable FOS as a CIM stalls at ~ 1.7 ft-lbs.

[Jared]

This looks really cool. It looks like it could work well on a 2013 climber, where you'd want to deploy quickly, but raise the robot with lots of torque.

What happens if you're going slowly and somebody pushes your robot from behind? Instead of the wheels driving the motor to go faster, the dog will back out, but it won't engage with the other side because it's going the wrong way, so the dog will be bouncing off the two sides until you speed up the motor or reverse direction.