Swerve designs

[nathannfm]

Originally Posted by MStump

Another thing to keep in mind is with swerve comes a lot of extra parts: eight motors, eight motor controllers, four sets of gears, and another stage for rotating the gearboxes.

You will also almost certainly need at least four encoders (maybe even eight depending on how you do it!). Encoders can often be difficult to work with so if you decide to use a swerve drive during the season, it would probably be a good idea to be confident with the use of these sensors.

The only thing not included in the weights I was talking about are the extra 4 motor controllers. Everything else is on the modules. I also did not consider any of the framing because with a swerve it is hard to define where the module support rails end and the structure of the rest of the robot begins.

Encoders were our biggest issue this year, make sure you can mount them in a way that allows for "wobble" so you don't damage them.