Quote:
Originally Posted by sanelss
well our design not only has a cim rotating with it but also a servo(we are doing a 2 speed shifting swerve, or at least attempting to) so we need some kind of slip ring with 5 channels 2 of which needs to be 40A for the cim. i mean we could just stick wires through the center as people have pointed out but we don't want to have to deal with all the issues related to untangling the wires.
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If you look at Pwnage's CIM in wheel swerve ( I think), they have a piece of code that, depending on how far the swerve module has rotated (with three complete rotations in one direction being the max IIRC) automatically turns the wheel the opposite direction to compensate for rotation of the wires. It's a fairly simple fix, and they said it had a minimal impact on reaction speed of the robot.
This would remove the need for slip-rings, which would bring the overall cost of the modules down quite a lot while simplifying construction.
Also, if you don't mind me asking, exactly how are you planning on packaging this swerve module?
I personally think any student should be allowed to participate, as long as he/she is helpful and active. FIRST, to me, is about inspiration, not elitism. - Aignam [more] 
23-09-2014, 03:11
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