By: Clem1640
New: 31-08-2014 09:51
Updated: 31-08-2014 09:55
Total downloads: 299 times

The mathematics supporting control of a 3-wheel swerve robot is defined - both chassis-centric and field-centric control modes are considered.

3-wheel swerve control logic - The Trouble with Tribots
Changes in the FRC perimeter rules make a 3-sided robot more attractive (and potentially stable) than under the 28x36 rules. At the same time, 6-CIM tank drive has become the drive-train standard for FRC robots. How to compete with 4-wheel independent swerve? One approach is being explored by FRC 1640 - Sab-BOT-age.

Attached Files

• 3-Wheel Swerve - The Trouble with Tribots

  Tribot_white_paper.pdf

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  uploaded: 31-08-2014 09:51
  filetype: pdf
  filesize: 1.58MB
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• Trobot excel worksheet

  Tribot_worksheet.xls

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  uploaded: 31-08-2014 09:55
  filetype: xls
  filesize: 1.31MB
  downloads: 68

  
  

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