4165 Offseason swerve

[matthewdenny]

Here is the plan for our offseason swerve (I've attached the ppt, explaining how we are making it, and the advantages and specs)

Whats different with this swerve? There is basically no machining involved (1 part needs a shaft turned down on a lathe slightly)

All drive power and steering are all gear transfer (no belts or chains).

Revletively compact (5"x5"x10")

~7.4 lbs

(there is an un-pictured thrust bearing above the bevel box)

Looking for feedback as we order parts to build it.

Also a big thanks to team 2590 for an Innovation grant that will help us afford to do this.