After our not-so fruitful attempt at 3D printed swerve, here’s our attempt at a “no-compromises” swerve that we could potentially use in 2019. It’s a typical bevel beside wheel swerve, and it’s geared 5.33:1 with a 4" BaneBots Colson wheel. This results in approximately 17.44 ft s^-1 free speed. The steering is done via a 81:1 BAG motor on a Versa Lite, which I hope is sufficient for the task. There is an absolute encoder, the TT 6127, which is geared 1:1 to the steering module. On the other hand, the speed encoder (Greyhill 63R) is geared 1:1 to the CIM output shaft via a GT2 2mm pitch 3mm width belt.
If you have any questions, please let me know!