pic: Jumpin' on the Swerve Train

[Andrew_L]

Originally Posted by Chris Hapstack

I should clarify that the swerve train I'm referring to is more of the off-season, design-exercise type. Seems like it was the most popular thing to do this off-season. I'm more of a 6WD drop center guy myself, but figured it would be fun to try my hand at some swerve design while I still had free time. I have no idea if we'll be doing swerve this season, but figured I would post this anyway.

As for the tech specs, the entire base shown here is 43.5 pounds and a swerve module is 8.4 pounds. Definitely on the heavy side, but I was shooting for robustness. The frame would all be waterjet-cut, and the swerve modules themselves have 3 team-manufactured parts: a 3D-printed encoder mount, a (set of 4) standoffs done on a lathe, and a tube that requires 2 mill setups. By form factor do you mean "length vs width" of the base?

Do you think adding frame-mounted bearings to the tops of the Revolution Pro 2 vertical drive shafts would add stability in a helpful way, or just over-constrain things?

Form factor as in why did you do the 221 style swerve instead of the Aren Hill style swerve?

As evidenced by the post above, I'm not too much of a fan of the 221 form factor anymore - it used to be the best method, but ever since Aren had decided that moving sideways wasn't a waste of time I think his form factor is a much better solution. I'd look into that style if you can.