First team with swerve drive?

[Jared Russell]

First mecanum drive in FRC I believe was in 2005, team 357 (showing my regional bias here...I want to say other teams had them in 2005 as well).

[Joe G.]

Originally Posted by Jared341

First mecanum drive in FRC I believe was in 2005, team 357 (showing my regional bias here...I want to say other teams had them in 2005 as well).

190 also had one that year

[Al Skierkiewicz]

I remember the big stir when Chief Delphi lifted up the hood on their robot that year. It was a coaxial drive as I remember. A lot of chain running around the top of the chassis.

[JVN]

Chief Delphi 1998 had a 2-wheel swerve. This was the first swerve drive...
Sometimes referred to as "delphi drive" in the old days.

-John

[JamesCH95]

Great info. Any idea when the first 4-wheel swerve was made?

[Ether]

Is there a shorter name, widely understood within the CD community, for a 4-wheel independent-steering and independent-driven drivetrain, with unlimited rotation of the wheels and sensors, and no gaps in the sensor feedback?

If not, could a longtimer here please invent one? It sure would be useful when discussing control methods.

[JVN]

Originally Posted by Ether

Is there a shorter name, widely understood within the CD community, for a 4-wheel independent-steering and independent-driven drivetrain, with unlimited rotation of the wheels and sensors, and no gaps in the sensor feedback?

If not, could a longtimer here please invent one? It sure would be useful when discussing control methods.

The Unicorn drive?

[Ether]

Originally Posted by JVN

The Unicorn drive?

Well, that's what it is then, christened with JVN gravitas.

This will save me a whole lot of typing.

[AdamHeard]

The closest I know a team came to this task would be 469 in 2007.

4wd independently steered, independently driven (and 3 speed shifters).

However, it was motor in module so was not infinite rotation.

They did nail the control aspect well, which few teams with such drives do.

[Chris Hibner]

ChiefDelphi did 4wd swerve for the 1999 game, as well as the 2001 game.

[Gdeaver]

1640 did 4 wheel independent steering with each wheel independently driven and continuous rotation on all wheels with no gaps in the absolute rotary non-contact sensors and implemented a least distance algorithm to determine whether to reverse direction and rotate a little or make a longer rotation in 2010. It was a major effort but it worked and has amazing capabilities. However, we still need to work on the presentation of all those degree's of freedom to the driver. We call it the " PIVOT DRIVE". To any other team that wants to go down this path I would ask them to seriously evaluate their resources to accomplish it. A page with a little description.
http://wiki.team1640.com/index.php?t...VI_Drive_Train

Yes, I am very proud of the group of students that made this happen.

[Chris is me]

Originally Posted by Gdeaver

Yes, I am very proud of the group of students that made this happen.

And for good reason! 1640's technical achievement is both underrated and can't be understated. Especially impressive is their extensive documentation - often more valuable in engineering than the design itself.

[foozie]

Team 1124 had swerve drive in 2010. There was a front and back window motor steering with four independent drive motors. It supported swerve, traverse, car drive, and 90 degree swerve drive. It worked pretty well, as it won us Rockwell Innovation in Automation at Hartford and Hartford Regional.

[Hawiian Cadder]

team 159 had one around 2001, although it was not co-axial and it did catch fire during finals.

[PAR_WIG1350]

Originally Posted by Hawiian Cadder

team 159 had one around 2001, although it was not co-axial and it did catch fire during finals.

Flaming Unicorn Drive!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! !!!!!!!!!!!!!!!!!!!!!

^that would make a good signature.

^ yes, I am aware that this wouldn't be true unicorn drive, but still.