Swerve Comments

[Bob Steele]

When we align the potentiometers that we use for the control algorithm we need to make sure all wheels are pointing exactly in the same direction. We do this by putting steel rods through holes in the swerve modules. These holes are drilled perpendicular to the module in two directions. We put 3 rods in and all the modules are lined up squarely with each other....all pointing the same direction... then we set the pot values to the same for each of them.

After this alignment we now have the same pot value for each wheel so that when the robot interface gets this feedback from the wheel it can keep each wheel facing in the same direction..

We also can, therefore use the calibration of the pots to change all wheels to face a different direction... or each wheel to face a different direction.

The alignment allows us to have an initial frame of reference for all the wheels..

I hope this helps you see what we are doing...