pic: Skunkswerve Module Cross Section

[AdamHeard]

Originally Posted by Dave McLaughlin

We are using seperate PID control for both front and back steering. As for the sensor, we are using an unlimited turn potentiometer. While this does have a 20-degree dead band, we oriented it in such a way that the dead band is facing the rear of the robot. When we near the dead band, the swerve module flips orientation and reverses power so that we can move in that direction. The "flop" is extremely fast and is nearly seamless. While we would prefer to have the truly seamless feedback that an absolute optical encoder would provide, the two eight dollar a pop pots were MUCH more affordable than the 350 dollar optical encoders were. Next year we plan to utilize two pots per wheel and align them in opposition to effectively eliminate the dead band.

$350 eh?

We used those on our KingKrab, and so far have had no issues. 111 and some teams have reported some possible issues with static discharge however.