Best Motors & Wheels for Swerve Drive?

[kingbrandon14]

My team is thinking about deigning our own swerve drive chassis for next year (modular, not chain), and we were wondering what the best combination of drive+steer motors is, as well as the best wheels for a typical swerve drive chassis. Any other tips or hints about swerve drive would be super helpful, too. Thoughts? Thanks!

[sanddrag]

You can read about and see pictures of ours in the Team 696 2015 build blog and the 2015 FIRST Robots: Behind the Design book.

[cjl2625]

For drive motors, I don't think you have many options aside from CIMs. Though last year we did use mini-CIMs instead, because drivetrain power wasn't at all needed for recycle rush.

For rotation, we've used RS-550s or Andymark 9015s. They were hooked up to versaplanetary gearboxes, but I don't know the gearing.

In 2014/2015, we used 4 inch HiGrip Wheels. But after a full season of aerial assist, the HiGrip wheels were totally demolished.

[jwfoss]

If you don't want to have to replace your wheels throughout the season, I'd strongly suggest Colson wheels.

[CalTran]

Originally Posted by jwfoss

If you don't want to have to replace your wheels throughout the season, I'd strongly suggest Colson wheels.

I was gonna say, I think the go to is usually colsons or sometimes 4" rivet-treaded wheels from AM.