pic: Lightweight 8 CIM Shifting Swerve Drive Chassis

[Bryce2471]

Originally Posted by Tyler2517

This is officially my Favorite swerve concept to date. Only a few questions...

Will this cause brown outs or systems to fail due to the massive amount of power being consumed when accelerating/turning?

You will be using almost all if not all of your 40amp slots to run this, is it that much of a advantage in speed/mobility to do this?

For field centric control can you update in time with this much acceleration/speed to keep every thing consistent?

Thanks!
In this design, auto shifting code would be used so that any time the speed was low, it would be geared or 12fps, which I believe this low enough to the breaker.

That is a good point. With the new power distribution board, ths will use all f the available power except 4 20-30 amp slots. That is a major disadvantage of this design, but that would be more than enough to build a robot in three days type manipulator this year. My goal with this drive train desing was to make an 8 motor shifting swerve drive small and light enough to be usable for a drive train dependent game.

We are implementing a limit on rotational acceleration for control-ability, weather or not we use field-centric code.