pic: Swerve again, for fun

[Aren_Hill]

Originally Posted by Chris is me

Aren never ceases to break my head with his designs. The non-coaxial power transfer is so cool. I like how you use the 16-style bearing thing to avoid using any shafting at all holding the module up. I like how your crazy ideas make complete sense in terms of the problems you're trying to solve.

It doesn't look like you have any sensor feedback on the wheel (velocity, you have a thing for angle i think). Do you have something planned for that? This seems like a cool application for that on-CIM encoder that's been going around CD these days.

The power transfer is still technically Coax, just pseudo planetary coax...

The module support is a 1/4" section silverthin bearing, the forks that hold the main wheel dead axle overlap the inner race of the bearing and clamp it. This is what handles the weight of the robot. No more custom bearing 16 style stuff, just a big COTS X-contact awesome bearing.

And that was my first thought after seeing that nifty CIM-encoder setup Chris, it'd work quite well as I currently have to cut the CIM shaft anyway.

This is by far the "most legitimate" swerve I have designed, and no pocketing etc has been done, I am confident it would last through a season and then some, while still being easy to work on.
Fun Fact, it only has 1 nut on it, and I could remove that one as well if I really wanted to. (Wheel dead axle)

-Aren