Here it is!
Emperor Swerve is a fully omnidirectional swerve that can translate and rotate simultaneously through all orientations.
Here are some specs;
Corner Module based design. Each module is a fully integrated drive, shifting and steering unit.
Autozering modules using photointerruptors and incremental encoders. This allows us to never have to mechanically zero sensors (like you’d have to with absolute sensors).
40 lb drive, with bellypan, batterybox, bolts etc…
2-speed, 6/16 fps.
No welding at all, on the entire robot. Minimal CNC work, mostly manual machining and waterjetted parts.
We’ll make a separate post for the elevator when we get better pictures of that.
We’ll be competing again in November, and will be practicing and optimizing the system in the meantime.