That’s interesting, I didn’t think about printing the plates, I thought they would break easy, definitely going to see if I can do it now.
And yes, coolness and outright performance is the goal here. Our team is from the PCH district, a somewhat underdeveloped district on the technical side so it might be cool as a quirk of the team doing something that few have done soo…
I thought about moving the secondary drive motor to the middle like 148 did… BUT this was easier… if it turns out as a problem having the motor far away I definitely plan on moving it…
I love the analogy of a funny car swerve, as a fan of drag racing I’m honored, but also at the same time if we can get a performance advantage from this module I’m all for it
You might want to buy the mineral rights below the venue just in case you hit oil when those things drill down through the floor.
ITS DONE!! Well V1.0ish that is. Had to modify the gearing a little bit because the main driving pulley was rubbing up against the steering pulley. Re-printed a smaller middle drive pulley so that constituted different belts so on and so forth. Another point of issue would be flex in the plates, but I’m working on a fix for that.
-Alex
So I did this in like an hour-ish…
Link to CAD:
Love it. I think more and more teams will do something similar in open-field games. A little overkill but doesn’t the i in MK4i stand for incredibly OP.
The ground clearance on those Falcons is a bit terrifying to me. For actual game-play, if your robot goes over something it’s not supposed to (cable protector, another robot, field debris, a cone that doesn’t like pushy-pushy, what-have-you), you might end up with some interesting lateral forces on those poor little fellas.
Yea… there’s a lot that isn’t optimal about the first iteration of the module. I think using the MK4i for the second iteration should solve this… I’m currently looking to re-CAD the three motor MK4i plate to have all of the motors inverted… but we shall see
Of course, not having your motors inverted means your modules are taller, so they’re in the way of upper mechanical mechanisms…
Ahhh, trade-offs.
what about changing the gears to L1 than you can have the L1 speed with a heavy robot plus you don’t need to do a lot more moding
Yeah, that’s probably the most optimal way to run it without a bunch of geometry changes.
Hightide did something like this Upgrade Swerve MK4i Increase acceleration and speed w 2X drive motors - #6 by Pompano
I think 148 made a 3-motor swerve module in 2021
So did 1619 and 1678 in 2021
1678 uses 3 motor swerve this year?
could 3-motor differential swerve be possible?
So you can do that but you would either need some extremely complex mechanism to somehow accept 3 motors on the same differential, or you would have two motors that work against a single motor so it would be worthless.
some extremely complex mechanism
Challenge accepted 
No in 2021. Sorry for not clarifying I’ll edit
