swerve drive with arduino mega 2560

[Mike Bortfeldt]

Scott - I believe the Servo library uses a timer and software to generate the PWM signal, so it is independent of the hardware generated PWM pins.

Becky – Getting back to one of your older questions. You don’t have to have a steering sensor if you are only going to run it in a “tele-operated” like mode if you want to keep things simple, although it will still be useful if you want it to drive in some modes. However, if you want to do autonomous driving, then you will definitely need a sensor to know the actual wheel position. I’ve had good luck with these. Specifically the 6127V1A360L.5FS. For mounting you really need these to be 1:1 with your wheel modules so the analog value will directly relate to a direction on the wheels. Since your steering motor uses a smaller sprocket than the swerve module, I’d install another shaft with the same size sprocket on one of the other wheels and attach the position sensor to that. This should be fairly easy since you have the double sprockets at each wheel. One thing to remember is that these sensors generally do not like high side loads, so I wouldn't recommend putting the sprocket directly on the sensor shaft.

Mike