pic: Team 4522 Team SCREAM Swerve Module

[pmangels17]

Originally Posted by AlexanderTheOK

hmm. if you got rid of the spur gear, the belts wouldnt fit around the versaplanetary.

BUT! what if you add a SECOND CIM. If you place them side by side the reduction could be done with the belts AND it would fit around the steering motor.

The reason i had this idea is because ive seen a nearly identical vex EDR swerve

But if you were to change the shape of the module and put the CIM in a different spot (like making it more of a corner module) and arrange the CIM, steering, and wheel shafts in a L configuration, you might be able to make it work. Also it might package better and smaller. Just a thought. This thing is awesome!

[mrwright]

Originally Posted by pmangels17

But if you were to change the shape of the module and put the CIM in a different spot (like making it more of a corner module) and arrange the CIM, steering, and wheel shafts in a L configuration, you might be able to make it work. Also it might package better and smaller. Just a thought. This thing is awesome!

That's exactly what we are looking to do for the next iteration. We already made a sketch and it will fit in a smaller footprint. We are also going to try the new VexPro encoders for the planetary gearboxes.

I will tell you all that we are really maxed out on power with our current gearing. It is geared pretty aggressively and we did have some brown outs during testing on carpet. We are in the process of adding current monitoring, ramping controls, etc. But we are going to increase the reduction from the thrust motors from 4:1 to around 5:1.

Our Vex Versaplanetaries are running at 100:1 with the bag motors and that is probably pushing it too far as well. We love the 1:1 with the steering gears so hopefully with our other adjustments it will still work.

That's what the off season is for though!