One of the disadvantages of swerve, apart from the fact that it’s apparently rather hard to program, is the fact that it’s not the greatest for pushing and it’s also rather easy to get stuck if the game has random stuff scattered all over the floor, like 2016.
Introducing: Flipping Swerve V1.0
Flipping Swerve is an idea I had at the beginning of September, about 8 months ago. I’ve been working on it on and off for a while now, but it’s finally finished!
Flipping Swerve is a combination of swerve and jump drives, combining the best of both worlds. Currently, it features a modified WCP-SS style swerve drive combined with a custom tank tread drive, while only using 8 motors - 4 Falcon 500’s and 4 RS-775pro’s.
CAD Link: https://grabcad.com/library/flipping-swerve-v1-0-2
- Mass: 50.89 lbs (According to SW, but I probably missed some stuff)
- 15.75:1 overall ratio for the tank tread section, giving it a calculated speed of about 8.59 ft/s and a maximum current draw of about 56.67 amps
- 5:1 overall ratio for the swerve drive, giving it a calculated speed of about 18.04 ft/s and a maximum current draw of about 117.35 amps
- 4 Falcon 500’s with Thrifty Bot CIM style shafts - I was using NEO’s until Falcons came out and couldn’t be bothered to modify the mounting to use Falcon splines. That’ll change in the next version I make.
- The swerve drive is almost identical to WCP’s SS Swerve, with the main differences being the modifications I made to allow the tank tread to use the same drive motor as the swerve, as I removed the encoder connected to the drive motor and replaced it with a bit of gearing to add in the tank tread
- The “flip” uses the Vexpro VersaDrop
- The current estimated cost is about $3300, which is somewhat high to use on a robot, unless the year is 2016 and you don’t want to have anything but a drivetrain.
I hope you enjoy the sheer ridiculousness of this, but I had a lot of fun making this, and I'm probably gonna make another version that's quite a bit cheaper and lighter, as this design is just a bunch of random things thrown together in a quasi random way.
I’m happy to answer any questions you might have, but please keep in mind that this isn’t really meant to be practical, I made it because I can and it’s something I’ve never seen anyone else do before. However, if someone does decide to use this design, please let me know, I’d love to see how it’s implemented and tweaked. (Also please let me know if you play with the CAD and change some stuff up, I’d appreciate seeing what you do with this)