pic: FRC-34 2009 Swerve Module w/CIM (Front View)

[Ed Sparks]

Originally Posted by Nathan Streeter

This looks really nice and clean! I'm eager to get a closer look at some crab pods at Nats... I have a couple questions about this design... First, how heavy is this pod, as shown? Second, what motor are you using to rotate the pod? Third, are you combining the rotating of the pods in any way? (i.e. each independently; fronts together, backs together; right side together, left side together, etc.) Congrats on the design, hope you guys can put it to good use!

The design allows several options to rotate the module. This year we will be direct driving the front two modules with the globe motors and we are pinning the rear two in place (I was overruled for full crab). This years robot can operate in basically two modes that the driver selects via joystick button, single/dual stick tank or true Ackerman. My plan is to test all possible modes after this season is complete. I'll post details when I return from Peachtree.

Note: I have a pretty sweet Ackerman vi that I'll post soon.