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Unread 04-07-2014, 18:10
cjl2625's Avatar
cjl2625 cjl2625 is offline
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AKA: Cory Lynch
FRC #2067 (Apple Pi)
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Re: Alligning swerve modules (and other problems)

This was never a problem for us throughout the season. Never noticed any slipping.
Here's my attempt at a mechanical explanation of how we did it: The wheel is attached a triangle holding box thing which is attached to a stick which is attached to a gear which is attached to another gear or something which is attached to a stick which is attached to an absolute encoder.
Sorry, I'm a programmer.

The most crippling swerve issue for us was gyro alignment, as we used a field centric system. Sometimes the gyro would just go nuts, creating a phenomenon we like to call the "drunken apple"'

After putting the gyros in a protective shock-absorbing case, we didn't have any problems with complete gyro craziness, although gyro drift was still present and annoying. We have to zero the gyro many times during a match.
This is probably the biggest problem we've had with swerve, and I'm not quite sure how to fix it.
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Last edited by cjl2625 : 04-07-2014 at 18:35.
 


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