pic: Team 4522 Team SCREAM Swerve Module

[Breakaway3937]

Originally Posted by AdamHeard

Looks correct.

We've pressed 3/8 and 1/2" hex onto CIM shafts as well if you do want to stick with the hex interface.

We did the same in our first iteration. We had no trouble pressing them on. We pressed with and without taking the motor shaft out. We even found a way to reverse the polarity of a CIM motor in the process. Lets just say the potentiometer was destroyed when the code ran!!! We had a box full of destroyed pots. When we switched to encoders on the second iteration, we could survive mistakes like that. We also run our code with only feedback loops on the turn, we don't get feedback from speed, we just go on percentage of the available voltage. We haven't noticed any issues with doing it this way.

Here is a first person video of the upgrades in code and move to encoders from Fall of 2013. This is the second iteration and unfortunately still had chains. You can hear those throughout video. We have since upgraded to belts and direct drive.

https://youtu.be/X6AjKVEwP38

The last 90 seconds is my favorite!