27-05-2014 22:51

Christopher149

Re: pic: SWREV3 Drive

Reminds me of this (http://www.chiefdelphi.com/forums/sh...ad.php?t=21066) Lego swerve from 2003, only yours is cooler.

28-05-2014 18:00

wyrzykowskij1

Re: pic: SWREV3 Drive

What programming language did you use? Just the Labview based one, or something else?

28-05-2014 21:46

Toa Circuit

Re: pic: SWREV3 Drive

The LabView Based EV3 Language... Sadly. Somewhat frustrating. I can send the file if you're interested.
NXC isn't really released yet and I was struggling with LeJOS.

28-05-2014 21:58

orangemoore

Re: pic: SWREV3 Drive

Could you send it to me? I would love to take a look.

28-05-2014 22:36

Toa Circuit

Re: pic: SWREV3 Drive

It'll be here for a while:
https://www.dropbox.com/s/zz0fi4po8gbz9vd/SWREV3.ev3
Let me know if there's issues opening it... It is a very big program. (Lots of MyBlocks. Lots of them.)

30-05-2014 16:32

Abhishek R

Re: pic: SWREV3 Drive

This is really cool. Is there a reason why you used 3 motors, would it not be possible with 2?

31-05-2014 10:22

Toa Circuit

Re: pic: SWREV3 Drive

Swerve is impossible with 2 motors- at least if you're wanting to be able to turn as well. Use 3 motors, and you can do some limited movement, but then it gets messy, and you can't move in X,Y, and W truly independently.

I'm using four motors (A EV3 Medium motor is a bit hidden behind the brick, and I had to use a NXT motor instead of a second EV3 medium motor to rotate the second module.)- each wheel is independently driven and steered.

02-06-2014 00:50

Flimsor

Re: pic: SWREV3 Drive

You could theoretically gear the swerve modules to turn together since all of them have to face the same direction to go anywhere anyways. You'd just power that with one motor, then another geared setup but to drive the wheels you want to.

03-06-2014 15:56

Toa Circuit

Re: pic: SWREV3 Drive

Such a setup can only traverse along the X and Y axes. Any rotational motion is coincidental or caused by drift.

03-06-2014 16:00

Andrew Schreiber

Re: pic: SWREV3 Drive

http://www.chiefdelphi.com/media/papers/2785 May be of interest to you.

I'm sure Nate is hovering around here somewhere...

03-06-2014 17:21

Abhishek R

Re: pic: SWREV3 Drive

Ah I see what you mean. Right, I was assuming only those two axes of motion, and not any rotational movement while traversing in a certain direction. So you would need at least three motors for a full swerve. I was thinking along the lines of what Flimsor said.