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  #16   Spotlight this post!  
Unread 04-15-2018, 07:43 PM
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Re: pic: GBX-162, Realistic Swerve

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Originally Posted by ollien View Post
Care to detail what's wrong with Swerve&Steer?
Apart from tolerance/machining issues in 2015 when they came out, there's no way to add a drive encoder, it's heavy, and it's super tall. They require you to use an MA3 for rotation, the top speed is fairly low, and the use of a PG71 for steering means that it's slow to rotate. A copy of 1323's swerve, or even a Team221 module, would perform better. Of course the latter is not available anymore.
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Unread 04-15-2018, 08:54 PM
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Re: pic: GBX-162, Realistic Swerve

We will def have some form of a swerve module for sale. After 3 iterations we think it's ready for sale!
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Unread 04-15-2018, 08:55 PM
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Re: pic: GBX-162, Realistic Swerve

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Originally Posted by R.C. View Post
We will def have some form of a swerve module for sale. After 3 iterations we think it's ready for sale!
Yay!
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Unread 04-15-2018, 09:05 PM
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Re: pic: GBX-162, Realistic Swerve

Having more robots moving around the field like 1323 would be a game changer. Awesome news R.C.
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Unread 04-15-2018, 09:09 PM
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Re: pic: GBX-162, Realistic Swerve

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Originally Posted by R.C. View Post
We will def have some form of a swerve module for sale. After 3 iterations we think it's ready for sale!
Your season has been a very good advertisement so far
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Unread 04-15-2018, 09:34 PM
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Re: pic: GBX-162, Realistic Swerve

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Originally Posted by R.C. View Post
We will def have some form of a swerve module for sale. After 3 iterations we think it's ready for sale!
Holy cow, this is amazing news! We're definitely very interested, having done swerve back in 2009 (as 2272), and the past offseason.
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Unread 04-15-2018, 09:59 PM
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Re: pic: GBX-162, Realistic Swerve

Quote:
Originally Posted by asid61 View Post
Apart from tolerance/machining issues in 2015 when they came out, there's no way to add a drive encoder, it's heavy, and it's super tall. They require you to use an MA3 for rotation, the top speed is fairly low, and the use of a PG71 for steering means that it's slow to rotate. A copy of 1323's swerve, or even a Team221 module, would perform better. Of course the latter is not available anymore.
I agree that the AM swerve is not ideal for most of those reasons, and I am looking forward to seeing the 1323/WCP swerve module! However we were able to get decent drive speed control by adding a CIMcoder to the drive motors. Yes, it isn't perfect since it's on the input to the gear reduction and not the output, but it is an option.
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Unread 04-15-2018, 10:22 PM
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Re: pic: GBX-162, Realistic Swerve

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Originally Posted by R.C. View Post
We will def have some form of a swerve module for sale. After 3 iterations years we think it's ready for sale!
FTFY
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Unread 04-16-2018, 03:36 PM
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Re: pic: GBX-162, Realistic Swerve

Quote:
Originally Posted by asid61 View Post
I added Munchskull's CIMcoder
Is this this significantly different from the stock AM CIMCoder?
We used the stock version for the first time this year in a 3-mini-CIM drive (WCP SS), and had our motor bolts back off and the motors loosen up. No issues on the mini-CIMs without the CIMcoder.

I have to wonder if the layer of plastic is reducing the preload available from the bolts, same way the versaplanetary encoder stage weakens those gearboxes. Before I use them again, I want to add a metal stand-off around each of the mounting bolt holes...
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Unread 04-16-2018, 04:15 PM
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Re: pic: GBX-162, Realistic Swerve

Quote:
Originally Posted by s-neff View Post
Is this this significantly different from the stock AM CIMCoder?
We used the stock version for the first time this year in a 3-mini-CIM drive (WCP SS), and had our motor bolts back off and the motors loosen up. No issues on the mini-CIMs without the CIMcoder.

I have to wonder if the layer of plastic is reducing the preload available from the bolts, same way the versaplanetary encoder stage weakens those gearboxes. Before I use them again, I want to add a metal stand-off around each of the mounting bolt holes...
Munchskull's design uses the robust AMT-102 encoders, while I've had nothing but issues with the AM Cimcoder. Tightening the CIM with the CIMcoder breaks them permanently. We wasted a lot of time last year with them, but no longer.
Plus, the AMTS have latching headers. I'm a big fan of that. AMTs have a lot more precision than the CIMcoders too, with an index pulse, and at about half the price.
The VP encoder stages actually do come with metal standoffs, but they're easy to lose.
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Unread 04-17-2018, 09:09 AM
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Re: pic: GBX-162, Realistic Swerve

Quote:
Originally Posted by pkrishna3082 View Post
I agree that the AM swerve is not ideal for most of those reasons, and I am looking forward to seeing the 1323/WCP swerve module! However we were able to get decent drive speed control by adding a CIMcoder to the drive motors. Yes, it isn't perfect since it's on the input to the gear reduction and not the output, but it is an option.
Why is it not ideal to have the encoder on the input side? Wouldn't it be better to have encoders on the input side so that you get more increments per rotation, therefore higher precision?
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Unread 04-17-2018, 09:16 AM
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Re: pic: GBX-162, Realistic Swerve

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Originally Posted by kingbrandon14 View Post
Why is it not ideal to have the encoder on the input side? Wouldn't it be better to have encoders on the input side so that you get more increments per rotation, therefore higher precision?
Yes and no. You also have backlash through however many gear reductions you happen to have, so those extra sig figs may not be worth it after all. With the AM swerve modules I was able to turn the wheels a decent amount (1/16 turn maybe) without changing encoder values. Will it actually matter? Probably not. Such things are more important on something like an elevator or arm where encoder precision is a lot more important. Usually, if you are off by an inch, especially in Power Up, it's not too bad.
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Unread 04-17-2018, 09:38 AM
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Re: pic: GBX-162, Realistic Swerve

Emphasis mine
Quote:
Originally Posted by pkrishna3082 View Post
Yes and no. You also have backlash through however many gear reductions you happen to have, so those extra sig figs may not be worth it after all. With the AM swerve modules I was able to turn the wheels a decent amount (1/16 turn maybe) without changing encoder values. Will it actually matter? Probably not. Such things are more important on something like an elevator or arm where encoder precision is a lot more important. Usually, if you are off by an inch, especially in Power Up, it's not too bad.
I beg to differ. As the programmer for our team, encoder precision for the rotation of swerve modules can make or break your autonomous. If one module is off by a little bit it can cause the whole robot to rotate and/or drift during robot operation.
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