Over the summer I began the design of a swerve drive using the revolution swerve modules from 221 robotics systems. After many redesigns and design reviews with mentors, we decided on a design that we thought was good. Unfortunately, we then discovered that 221 had stopped selling the revolution swerve modules because they were updating the design, and coming out with the revolution pro. One of our mentors came to the rescue, and set up a sponsorship for us with the local machine shop that he works at, and machined the parts of the modules for us. We began assembling the entire thing, but ran out of time before winter break started. Mechanically, it is about 95% complete.
Because we had been forewarned that the most difficult part of swerve is the software, we created a test board for angle adjustment, and developed a PID loop to optimize this function. We also used old robot's drivetrain encoders to work on wheel speed control.
We had hoped to get this practice swerve drive running before the start of build season, but were unable to. We do have a frame created and the modules almost completed. We have not decided yet if we will use swerve or not for 2015, which will be decided by the game.
I would like to give credit to Bryce2471 and Tyler2517, because I based my design off of some of their older designs that they had published.
The cad can be found here:
https://docs.google.com/file/d/0B0ax...1neGUzSmM/edit
Feel free to ask questions or offer insight.
Is there a way to spotlight an entire thread? - ctt956 [more] 
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