2015 FRC prototype two speed swerve drive first run

[sanelss]

Originally Posted by Kevin Sheridan

Those poor gears. What did they do to deserve such treatment?

well the first one that flew out was a 30 tooth idler one that was supposed to have a pin in it to couple it to the shaft. I have not yet installed any of the pins =\ but it had no where to go and since we're not using the speed sensors yet from that shaft and was so anxious to get it moving around i kinda of skipped that for now.. xD the second gear which was a cluster came out due to the main failure. a number 8 screw that keeps the entire shifting block attached to the frame on a spinning, pivoting shaft. That screw had no lock washer or locktite on it so we knew that would happen sooner or later but didn't really care and just wanted to see how fast it would go!

so yea that was all our, or rather i should say my, fault. but it's ok! nothing broke so after break we can resume more testing and abuse of the system! after a lockwasher and locktite that is xD and probably that pin as well...

I kind of like that it failed and how it failed, it adds a bit of humor at the end xD

[philso]

You may want to video using a high-frame rate camera. It looks like one of the modules points in a different direction from some of the others after what looks like a change in direction. I don't know if this is intentional or if it is related to the gears that came loose.

[sanelss]

Originally Posted by philso

You may want to video using a high-frame rate camera. It looks like one of the modules points in a different direction from some of the others after what looks like a change in direction. I don't know if this is intentional or if it is related to the gears that came loose.

we don't need a high speed camera for that. you are indeed correct. as i stated at the start this is with just a few hours of coding and just barely enough code to make it move. it's just due to very un-tuned parameters and can be fixed up when i have a bit more time to put into it.