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Unread 05-18-2018, 12:11 AM
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pic: 4587 Swerve 1.0

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Unread 05-18-2018, 12:15 AM
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Re: pic: 4587 Swerve 1.0

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Originally Posted by Cash4587 View Post
Can you post a bottom right iso?
What does the connection between the module and mounting plate look like(what are you using for the rotation surface)?
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Unread 05-18-2018, 12:19 AM
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Re: pic: 4587 Swerve 1.0

Also why this versus a coaxial design? You guys always make beautiful robots so im wondering why you'd go for taking up more vertical space instead of lateral space in the frame with a coax design.
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Unread 05-18-2018, 12:39 AM
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Re: pic: 4587 Swerve 1.0

Quote:
Originally Posted by gorrilla View Post
Can you post a bottom right iso?
What does the connection between the module and mounting plate look like(what are you using for the rotation surface)?
I plan to use a Chinese Silverthin bearing. As far as I can tell it is basically the same bearing but way cheaper. It is a 3.5"ID x 4.0"OD x 0.25"Thick bearing. The triangle shaped pieces are bolted to the 84t steering gear.

https://imgur.com/IiJ6pGi

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Originally Posted by gorrilla View Post
Also why this versus a coaxial design? You guys always make beautiful robots so im wondering why you'd go for taking up more vertical space instead of lateral space in the frame with a coax design.
It makes the module plates Identical when machining them as far as I have thought through it. With a lateral design I would have to mirror some plates and then also machine them differently. I just wanted our first module, which will end up being used for this years game to be simple. With there being plenty of height in this years rules it's not that big of a deal. Also lateral makes your frame taller unless you use a 775pro or miniCIM, which I also don't want to do.
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Unread 05-18-2018, 01:02 AM
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Re: pic: 4587 Swerve 1.0

Quote:
Originally Posted by Cash4587 View Post
I plan to use a Chinese Silverthin bearing. As far as I can tell it is basically the same bearing but way cheaper. It is a 3.5"ID x 4.0"OD x 0.25"Thick bearing. The triangle shaped pieces are bolted to the 84t steering gear.

https://imgur.com/IiJ6pGi



It makes the module plates Identical when machining them as far as I have thought through it. With a lateral design I would have to mirror some plates and then also machine them differently. I just wanted our first module, which will end up being used for this years game to be simple. With there being plenty of height in this years rules it's not that big of a deal. Also lateral makes your frame taller unless you use a 775pro or miniCIM, which I also don't want to do.
Where are you planning on sourcing this Chinese Silverthin? I might have need of one for an offseason project.
Swerve looks solid, although I wouldn't volunteer to machine that bevel gear.
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Unread 05-18-2018, 01:25 AM
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Re: pic: 4587 Swerve 1.0

Very nice looking design. It appears to take a lot of inspiration from my design, which took a lot of inspiration from one of Aren Hill's designs. Please post updates when you get it put together over the off season.
#teamswerve

Last edited by PatrickW : 05-18-2018 at 01:38 AM.
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Unread 05-18-2018, 01:25 AM
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Re: pic: 4587 Swerve 1.0

Good stuff. I like how you're doing the bevel on the wheel, instead of relying on a press fit. Is the shaft of the VP being supported by a bearing on the plate? I'd put one on just to be safe. [Edit: Whoops! Ignore that, I didn't see the picture you posted earlier]

Also, do you have a means of zeroing your modules? With the VP encoder, you're not going to measuring wheel rotation but rather output shaft rotation, meaning that you'll find "zero" falsely multiple times over a single rotation of the wheel.
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Unread 05-18-2018, 01:34 AM
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Re: pic: 4587 Swerve 1.0

Quote:
Originally Posted by NerdRage View Post
Also, do you have a means of zeroing your modules? With the VP encoder, you're not going to measuring wheel rotation but rather output shaft rotation, meaning that you'll find "zero" falsely multiple times over a single rotation of the wheel.
This was the main reason we didn't use the VP integrated encoder on our module this past year. We instead went with a encoder geared 1:1 with the steering of the module. It was very nice to be able to place the robot on the field and not need to make sure the wheels were pointed in the correct general direction or have an addition sensor and need to run a homing routine.
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Unread 05-18-2018, 02:03 AM
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Re: pic: 4587 Swerve 1.0

would a cim coder be good for a swerve like this? It would directly mount on the CIM, I haven't used one before so not quite sure about the accuracy but it seems like that would be a pretty good option because it wouldn't take up space and wouldn't have the problems of the VP integrated one

Last edited by deltafief : 05-18-2018 at 02:45 AM.
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Unread 05-18-2018, 02:44 AM
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Re: pic: 4587 Swerve 1.0

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Originally Posted by asid61 View Post
Where are you planning on sourcing this Chinese Silverthin?
I'll PM you.
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Unread 05-18-2018, 02:46 AM
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Re: pic: 4587 Swerve 1.0

Quote:
Originally Posted by PatrickW View Post
Very nice looking design. It appears to take a lot of inspiration from my design, which took a lot of inspiration from one of Aren Hill's designs. Please post updates when you get it put together over the off season.
#teamswerve
Yeah, I took a lot of inspiration from Aren's design, and yours, but also many other designs as well.
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Unread 05-18-2018, 02:50 AM
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Re: pic: 4587 Swerve 1.0

Quote:
Originally Posted by NerdRage View Post
Good stuff. I like how you're doing the bevel on the wheel, instead of relying on a press fit. Is the shaft of the VP being supported by a bearing on the plate? I'd put one on just to be safe. [Edit: Whoops! Ignore that, I didn't see the picture you posted earlier]

Also, do you have a means of zeroing your modules? With the VP encoder, you're not going to measuring wheel rotation but rather output shaft rotation, meaning that you'll find "zero" falsely multiple times over a single rotation of the wheel.
I plan to use the WCP Hall Effect sensor. Shown here: https://imgur.com/a/fVxFl8y

The only thing I am uncertain about is how this sensor should be mounted/used. I gave it my best guess on what I thought was right.
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Unread 05-18-2018, 08:41 AM
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Re: pic: 4587 Swerve 1.0

Quote:
Originally Posted by Cash4587 View Post
I plan to use the WCP Hall Effect sensor. Shown here: https://imgur.com/a/fVxFl8y

The only thing I am uncertain about is how this sensor should be mounted/used. I gave it my best guess on what I thought was right.
If you do this, you will have to zero the motors before every match. You should look into a 1:1 absolute encoder.
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Unread 05-18-2018, 09:20 AM
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Re: pic: 4587 Swerve 1.0

Quote:
Originally Posted by Cash4587 View Post
I'll PM you.
If you can send me the source of these cheaper silverthin bearings that would be awesome

Also where are you planning to purchase your bevel gears from?
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Unread 05-18-2018, 10:22 AM
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Re: pic: 4587 Swerve 1.0

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Originally Posted by Ryan Dognaux View Post
If you can send me the source of these cheaper silverthin bearings that would be awesome
+1
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