Help with Swerve Drive

[PredaFran]

As a C++ programmer, this is my first year programming with motors,encoders,the roboRio,etc. and my Team has been developing a swerve drive off-season,and my experience is not helping me with it, so i have been doing a lot of research about it, looking for templates,basics but i still cant manage to do it, so i came here to ask help, suggestions, tips. Everything that can help me


Info about the swerve drive: (attached an image)
*4 motors will be linked using chains, in groups, left(upper and lower) and right(upper and lower)
* it will only be able to rotate 180° to the lafet and 180° to the right
* we are still deciding if we are going to use the CANTalons or Victors

All suggestion are accepte
Thanks

[Ether]

Originally Posted by PredaFran

*4 motors will be linked using chains, in groups, left(upper and lower) and right(upper and lower)

swerve has at least 8 motors (4 steering + 4 propulsion). which set of 4 are you referring to above?

[PredaFran]

Originally Posted by Ether

swerve has at least 8 motors (4 steering + 4 propulsion). which set of 4 are you referring to above?

Sorry, 4 motors in the wheels, and 2 that move the chains that steer

[Ether]

Originally Posted by PredaFran

Sorry, 4 motors in the wheels, and 2 that move the chains that steer

So, you have independent control of the wheel speed for each of the 4 wheels, but the front and back wheels on each side are chained together for steering?

[PredaFran]

Originally Posted by Ether

So, you have independent control of the wheel speed for each of the 4 wheels, but the front and back wheels on each side are chained together for steering?

Yeah

[Ether]

Originally Posted by PredaFran

Yeah

when you steer the front right wheel to the right, does the rear right wheel steer to the right also, or to the left?

[PredaFran]

Originally Posted by Ether

when you steer the front right wheel to the right, does the rear right wheel steer to the right also, or to the left?

to the right too

[Ether]

Originally Posted by PredaFran

to the right too

What kind of driver interface do you have in mind?

[PredaFran]

Originally Posted by Ether

What kind of driver interface do you have in mind?

Smartdashboard

[Ether]

Originally Posted by PredaFran

Smartdashboard

Configured how? What is the interface presented to the driver?

[PredaFran]

Originally Posted by Ether

Configured how? What is the interface presented to the driver?

wait, sorry for that, we are going to use the FRC driver station

[Ether]

Originally Posted by PredaFran

wait, sorry for that, we are going to use the FRC driver station

So, no joysticks. No Xbox controller. Just the FRC Driver station?

[PredaFran]

Originally Posted by Ether

So, no joysticks. No Xbox controller. Just the FRC Driver station?

ohh, didnt get that, we are going to use the 3d extreme pro joystick for the driver, because its 3-axis

[Ether]

Originally Posted by PredaFran

ohh, didnt gert that, we are going to use the 3d extreme pro joystick for the driver, because its 3-axis

What does your drive team want each axis to do?

[PredaFran]

Originally Posted by Ether

What does your drive team want each axis to do?

X-Axis: left, right
Y-Axis: fowards and backwards
y-rotate: rotate in the place and while moving

By the way, thanks a lot for the help so far, we really appreciate it