pic: 4143 offseason motor in wheel swerve

[RyanShoff]

Our first test swerve chassis from last year wore out. 3.5" colson wheels became 3", the frame was bent, and rivets became loose from the all the driver practice.

This design will test a number of new ideas, including a plus-shaped frame, stiffer swerve pivots, and custom internal ring gear wheel. This is also the first year our team will have a Tormach cnc mill dedicated to us.

The design was born after seeing Team Neutrino's motor in wheel swerve module on display at IRI in 2013. Pwnage improved on it again last year.

As designed now, the wheel diameter is 4.4" with a 74 tooth ring gear. All available cim output gears can be used (11, 12, 13, and 14). I hate quoting top speed because some teams use cim free speed and some take off an efficiency factor.

More pictures, cad, and section views coming later today.