pic: Team 221 LLC. - Wild Swerve Module

[Chris is me]

Originally Posted by jspatz1

I am not an expert on past FRC rules, don't have them in front of me, and don't have the greatest memory....but, isn't there a rule that says you may not use pre-engineered mechanisms expressly designed to fulfill a primary function of the robot? I don't remember the exact language, but it sure seems to me that systems such as this have crossed that line, wherever it is. As a 4th year team, we have finally gotten ourselves to the point in experience and expertise that we are in the process of developing our own swerve drive. It is a bit discouraging to realize that if you are a team with enough money, you can skip all the engineering and learning, and just buy the major subsystems of your robot.

The rule in question for 2009 would be this. No one knows what will happen to it in 2010, so you probably shouldn't buy a Wild Swerve with the expectation that you can use it in 2010 or whatever.

However, COTS items that have been specifically designed as a solution to portion of the FIRST Robotics Competition challenge may or may not fit within the FRC intent, and must be carefully considered. If the item provides general functionality that can be utilized in any of several possible configurations or applications, then it is acceptable (as the teams will still have to design their particular application of the item). However, COTS items that provide a complete solution for a major ROBOT function (e.g. a complete manipulator assembly, pre-built pneumatics circuit, or full mobility system) that require no effort other than just bolting it on to the ROBOT are against the intent of the competition, and will not be permitted.

People arguing for the Wild Swerve say that this still takes assembly, you have to design a frame to mount it to, and the hardest part of swerve is controlling it. I don't have a side on the issue other than encouraging my team to buy Wild Swerve modules if the 2010 game calls for them rather than using our own, if the modules are legal.

Regardless there are disadvantages to non coaxial swerve drives such as this one (wire wrap is a major concern with turning the modules, you are required to use all 4 of your CIMs which may not be ideal in games like Lunacy or Overdrive where you might want less or more, no shifting option, possible drop in efficiency of turning in place with swerve, control, control), so don't let this discourage the building of your own swerve.