pic: MOEnarch Swerve Drive

[nathannfm]

Originally Posted by billbo911

Is it a fair assumption that you will be using 8 CIM drive with this.
If so, how are you planning to keep from popping your main breaker?
Are you using current monitoring to keep yourself in a safe zone?

4 CIM + 4 MiniCIM (assuming the motor count rules stay the same) but yes, current monitoring is the plan, I know there are a few teams this year who had this many CIMs on the drive without problem, but they did not have the additional draw of the 4 rotation motors so we may be forced down to 4 CIMs. We will be testing with 4 CIMs to start then if we can scrounge up enough Jags, all 8. The new control system should make this much easier. We are also concerned about weight, so no guarantees but we wanted to include all 8 mounting positions to cover our bases.

Originally Posted by Tom Line

I would consider changing the location of your digital encoder...

I am not sure if you can tell but the encoder is also on a slot so we can adjust it along with the CIM and make it just kiss the belt so there is almost no side loading. If the belt skips im pretty sure we are just gonna go to chain, we had enough headaches dealing with skipping belts this year

We did consider a bracket like you describe but it was just another part to manufacture and would also put the encoder in a more vulnerable location. If there is some unforeseen mechanical problem with it's current location we may go this route.