My team is building a swerve bot this offseason, and us programmers finally get access to it tomorrow. I was wondering how other teams align their wheels and get the right encoder offsets? I really like the way REV did it with a wheel alignment jig, so I was thinking about designing and 3d printing one for the MK4i. Is there an easier way to get pretty much perfect offsets?
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We used a regular 25*50mm profile to push the front and rear wheels together, so they must align pointing towards. And did it for both the right and left sides. I don’t know if there is a better way but it works very quickly and easily when we had not much time. For the photo below, the red ones are swerve wheels and the green one is the profile
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this is exactly how we did it, but using a broom stick. It’s fast and easy and works near perfectly
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Exactly this.
Make sure you always have a rule, like “bevel gears to the outside” or something.
Save that alignment piece of extrusion, mark it up with sharpie so no one tries to use it for other things.
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This is the way.
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Why does it matter which piece of extrusion you use to align the wheels? We usually just use the nearest thing that’s straight and long enough
Just so that it is always available, it’s not the world’s best reason. But I treat it like any other tool; just able to open the tool cart and grab the moment it is needed.
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We use an old chasis plate from 2019. Travels with the tool chests, very easy to use.
We just flip the robot up on its side and eyeball the alignment. Never have had an issue. Like its been said just make sure all your bevels are on the same side of the wheels.
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