Team 2067 Swerve Drive Project

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Apple Pi, Team 2067, is pleased to present our off-season swerve drive project. It is a fully independent swerve set-up and uses the revolution swerve modules from 221 systems. We integrated the drive and steering motors into a custom gearbox made from a 4”x3” piece of aluminum extrusion.

At the following link you will find, under the public domain label, 3 files available for download. The first is a power-point which goes through the swerve code development basics. The second link is to Labview code. The third is the CAD of the module. In the media/video section of our website you can find a video of the swerve drive in its initial runs.

http://www.applepirobotics.org/useful-links/

We started this project in the summer of 2012 after being on the Newton field and across the aisle from team 1717. (I have noticed that 2122 and 2471 also developed swerves after being on the same field – a testament to the inspiration power of great teams like 1717). It took us until this off-season for it to all come together.

Not sure if we will ever use it in a competition season, but it has been a fun learning project, developing CAD capability on the team, our first custom gearbox, along with the Labview development.