pic: DiscoBots Nano-killough

[gpetilli]

How did this work out for you? We are building something very similar as our off season project. This style chassis is extremely stiff and has a very low center of gravity so I doubt you had the predicted stability problems nor needed a suspension.

The major difference with ours is we went asymmetric - meaning we put the wheels at a 30deg toe-in instead of standard 60deg. This gives us more usable torque front to back (87% vs swerve) and less lateral (50% vs swerver). 45deg would give 70% vs swerve in all orthogonal directions.

Did you do robot centric or field centric controls? What sensors did you use and would you use them again?

Originally Posted by lynca

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