pic: Hart District Robotics Swerve Drive Prototype

[AdamHeard]

I'm curious how the p60s will hold up cantilevered that like. We're overly cautious with them though.

The concept and gearing looks sound, can't really comment on the modules at all.

I think you could make the frame a lot easier for you by reducing the number of members by more than half. A lot of time goes into fabrication of such a frame, and also a lot of weight.

It looks like you could do just two main 3x1 rails (one per side), and lesser framing just connecting those. Would save a lot of time and weight. The frame for our Swerve drive is JUST a perimeter of 2x1x1/16".

What most people don't realize is the code is where you really make/break a crab drive. What have you guys accomplished there so far?

We used incremental encoders (s4's) for our steering, but have used MA3's in the past (as have a few other teams). I know other teams have used limitless potentiometers, and rotary hall effect sensors. Expect to pay $30 minimum for anything of quality.