Team 4159 Dual Cim Two Speed Swerve

[Aaron Ng]

This is the fourth iteration of our swerve module that we have designed, and the first one that we are planning to build and test during the off season.

Specs:
(JVN calculator’s) theoretical speed: (with 1 CIM + 1 miniCIM)
4.93 feet per second low, 14.78 feet per second high.
with a simple gear swap, we can get 6.08 feet per second low, 18.25 feet per second high.
Wheel Diameter:
2.5 inch colson default, can swap for a 3 inch colson.
Size:
5.125 in x 5.125 in x 12.6 in
2.25 in ground clearance
Weight:
approximately 10-11lbs
Steering:
bag motor versaplanetary at 1-50 ratio plus 30-60 gear reduction for a total of 1-100 reduction for a theoretical 90 degree turn speed of .12 seconds (courtesy of JVN Calculator)
Encoders:
-Steering: US Digital MA3 absolute encoder from Andymark, geared 1-1 to wheel rotation
-Wheel: US Digital S4 incremental encoder, currently randomly geared on the side to make life hell for our programmers.


We thank the internet for inspiration:
Andymark’s Swerve and Steer,
Team 221’s Wild Swerve and Revolution Pro,
Every Swerve on Chief Delphi,