Swerve Drive Compilation 1

Compilation video of Swerve Drive testing is finally here!
To see an in depth CAD view, check out the previous CAD teaser video: • 2018 Swerve Teaser - C...
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[@theclueless11212]

Man, your swerve drive looks so clean

[@CybotsFTC]

Thanks!

[@billfan7528]

Damn, that ends my eight day streak for no-fap-november

[@felixcretu4993]

I see you are a man of culture as well.

[@krishnasuresh]

Hi this is Powerstackers 5029, very cool swerve drive! Just wondering how you found out how much force is needed to rotate each swerve wheel?(oz-in)

[@MechanicalParadoxCubed]

Awesome guys!

[@CybotsFTC]

Thanks!

[@jacobshore2851]

i didn't see the wheels ever make a full revolution. is this true 360 swerve?

[@CybotsFTC]

Jacob Shore Yes, it is

[@arjunoberoi7976]

Do you guys use an encoder for the servos that rotate the wheels? If so, which encoder?

[@CybotsFTC]

Yes, we're using the US Digital MA3 encoder (also resold by Andymark).

[@madseskildsen3915]

Do you think you could release cad of this on Grab cad. The Swerve drive looks great, probably the best FTC swerve so far.
Mads Eskildsen FRC Team 135

[@CybotsFTC]

We aren't releasing CAD files at this time, but happy to answer any questions.

[@setht7894]

Wow that's awesome! What size wheels are on there?

[@CybotsFTC]

Thanks! These are 4 inch stealth wheels.

[@AdityaSingh-xm9pl]

How many motors and servos does this use?

[@CybotsFTC]

4 Andymark Orbital 20s and 4 servos (now upgraded to Vex Motors/servos for more power)

[@tkrzyzanek]

What’s the gear ratio between the motor and wheels? Also from servo to turn mechanism

[@karterkrueger8863]

A the time this was made, it was around 13:1 motor reduction for the drive wheels. However, we later reduced the speed to make it more controllable. As for the rotation, it is powered by a 1:1 ratio with the REV servo.

[@madseskildsen3915]

Is there 2 REV expansion hubs on this robot, if so why?

[@CybotsFTC]

Yes, there are 2 REV hubs so that we can use all 8 motors, 12 servos, and sensors for the robot.

[@madseskildsen3915]

I'm no longer that well versed in FTC. Happy they finally stopped teams from using the constantly disconnecting power distribution modules and motor modules.

[@andrewodonohue8729]

Can you point in in the correct direction to get programming help with swerve drives?

[@karterkrueger8863]

This is a good resource for robotics swerve drives: discord.gg/dRGQfuc

[@beckhaywood8370]

Or... just use mechanical wheels or macanum

[@CybotsFTC]

Yes, mecanum wheels could work for omnidirectional as well, but swerve is fun to try out and unique. :)