Swerve and Steer Module

[bmammen]

Originally Posted by Peyton Yeung

Here are some pictures of the setup.

The encoder has a 1/4" output so I took a 3/8" hex shaft, drilled a 1/4" hole in one end, slotted the hole with a band saw, and slid a shaft collar over the slot and voila. The encoder now has a 3/8" hex shaft which I coupled with a 3/8" hex gear with the same number of teeth so the feedback is 1:1. The whole plate has just 5 holes in it.

That may be the simplest solution I've seen so far, thank you so much for the information and pictures! We would also like to give a shout out to Apple PI for the great LabView code they created for Swerve, our programmers were able to use it for the base code on our off season bot.