Swerve and Steer Module

[bmammen]

Originally Posted by page2067

We were psyched to hear that a team that did as well as you guys used our code as a basis.
Congratulations on a great year!
Our programming team will be posting our past year swerve update later this fall. Our code and some powerpoint that describes the basis for it are on our resource tab of our website.

We appreciate hearing from teams that find it useful.

Any idea when you might post last seasons code? Curious what changes you guys made, your bot was very smooth on the field!

[josesantos]

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.

So the 3/8" hex shaft acts like a collet clamping onto the encoder shaft? That's a pretty neat set up!