1640 had a great competition at SCH in FMA.
Swerve drive driven “ like he stole it “. This wasn’t a one off match, all the matches looked like this.
The whole team was happy with the way he drove. Well done 1640 Sab-bot-age
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Pa thanks to our alliance partners 341 and 714 for a great slims.
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Beautiful driving, truly a great demonstration of what swerve can do. Do you have any vision assistance for lining up with the balls? I know that your 2020 swerve used a PETG lower- I am assuming this year is the same, how did they hold up?
Always great to see more plastics and composites used in FRC. Love the creativity 
Good robot orientation knowledge and field/gamepiece awareness by the driveteam. That is for sure, nice match.
Excellent work, we just finished our first Regional and the top score for the day was 106. You guys made it seem like a cakewalk with your driving and scoring abilities so props to you.
One thing to be aware of if you are still progressing in the season; we noted some of the best scoring teams had swerve, but were easily challenged by West-Coast defense bots who had the grip advantage (primarily through 6" omni and Colson wheels). Local high-scoring bots ended up scoring half of their regular yield while being defended by a low-ranking pushbot team.
In any case, just be aware of this because I speculate we will begin to see much more defense in the coming weeks when there is a significant point yield difference across teams, so at the very least continue to practice evasive maneuvers to avoid such bots!
Best of luck!
What are you running for swerve this year? Is this a derivative of the CVT you’ve used for years or did you go to COTS? Looks awesome.
Between the 2019 and 2020 seasons, we did a major overhaul of our swerve design to bring it in line with current technologies like the SDS modules and combine it with a brand new version of our CVT design. Here’s that design 1640 Sab-BOT-age 2020 CVT Swerve Module Reveal
When 2020 came along, we saw the field design and made the decision that based on the spring distances we wanted to optimize for, we didn’t need shifting and though we were sad to lose the cool factor, we removed the CVT from our swerve design. It worked great and we feel the power from brushless motors these days negates the need for shifting (whether continuous or 2 speed).
Come 2022 and we geared even higher but stuck with our custom swerve design (without CVT) that is functionally very similar to the SDS design but utilizes a lot of 3D printing for the top plate, wheel mounts, the steering pulley, and a G10 (circuit board material) bottom plate. There’s almost no metal except where needed for gears and bearings.
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See above for plastics, PETG wheel mounts and large steering pulley and printed polycarbonate top plates
We only used the Pixy camera for aligning to the ball in auton but in teleop its all driver controlled with a half speed slow mode used sometimes for careful ball alignment.
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I will link some matches later but at our first competition, Hatboro, and this one, Springside Chestnut Hill, we showed that our scoring was only slightly hindered by defenders. While a lot more teams are using swerve this year, there’s a lot of newer drivers who aren’t using swerve to its full potential, opting to push through defenders than dance around/away from them. I think that only other swerve robots or very very well driven tank-drive robots are going to be able to keep up with agile offensive swerve robots.
Also, in some of our SCH elim matches, we would just switch to the protected Launch Pad under defense and it seemed to scare the defender off.
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FMA is noted for defense. We seen plenty in slims and scored close to and over 100 almost every match
pretty good robot
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1640 is known for their excellent swerve. They have dine this for many years and it shows.
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1640 is no stranger to tough defense. As @John_Weissman said, FMA has its fair share of defenders. That said, they aren’t invincible 
Take a peek at the semis series from 2020 Hatboro. 5113 swapped in as a backup bot for match 2 and 3 of the series, and the difference is evident, even drawing penalties from 1640 in match 3.
Always fun to play against 1640, especially our series against them as a captain in 2019. Truly a worthy opponent every time!
1640 was great to work with. Awesome team, awesome bot.
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1640 runs a fairly comprehensive swerve R&D program. This year’s evolution is available here…
https://team1640.com/wiki/index.php/DEWBOT_XVII_Drive_Train
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