pic: Hart District Robotics Swerve Drive Prototype

[Garret]

I know someone asked for a picture of the module itself so I have attached one I took at today's meeting. Currently once we mount the encoders we should be running code. We plan on devoting the rest of our time to working on the code.

About running the steering at non 1:1 ratio, we did this because we could get AM parts that were cheap and were the right size for our shafts. I would run 1:1 but I am designing within my teams constraints.

I forgot to answer how we were going to measure wheel angle.
We plan on using an incremental encoder to determine our position relative to a zero position that would be set by a touch sensor or an optical sensor that would detect a reset/zero point defined by something along the lines of a reflector on the top of the module.