Swerve drive robot cost reddit I am lucky enough that I was taught how to do swerve. Old. ' modules have to turn before a movement can happen and it can do things like drive on a curve that x and mec drives just can't. 208 votes, 34 comments. Posted by u/One_with_gaming - 1 vote and no comments We are having an issue with our swerve drive programming (C++). The unofficial hub for discussion of the WWE2K series and any other pro wrestling game out there! Reddit's home for the FIRST Robotics Competition! Members Online • Jagxas . My team is likely moving to it next year solely because we can manufacture a swerve drivetrain in less than a day, it costs us almost nothing resource-wise, we already have code for it that we know will work well, and should we need to, we could literally switch to a WCD in a single weekend. When build season starts, change up the Ether (the guy who wrote swerve code) wrote some mecanum psuedocode a while back. From the mechanical side. ADMIN MOD Swerve Drive Gearing? help Hi, I'm currently undertaking the task to design a swerve module. ADMIN MOD Swerve Drive Help . Reddit's home for the FIRST Robotics Competition! Swerve drive programming help . Reddit's community about trumpet, and all related instruments: Cornet, Flugelhorn, Bugle, Etc. Premium Powerups Explore Gaming View community ranking In the Top 5% of largest communities on Reddit. Also helped that our driver that year was just amazing. Being able to rotate and strafe in x/y simultaneously is incredibly nimble and when driven well is an incredible advantage, but dedicating half your PDP and a major part of your mechanical Reddit's home for the FIRST Robotics Competition! Hi, I was the programmer for this swerve drive. The absolute minimum is having a functioning drivebase with path following and Honestly, that is quite cheap, Horizon drive pods cost like 700$ and ours are very cheap. Controversial. Reddit's home for the FIRST Robotics Competition! Members Online • As for ratios L3 is probably better, you don't want to be in a pushing match with a swerve drive anyway, the main benefit is that you can just outmaneuver other robots, which the added speed will help you do better when you find out motor controllers cost $89 each and /r/battlebots is a reddit community for fans of robot combat. The ESP32 series Reddit's home for the FIRST Robotics Competition! Members Online • Drakethesnake482 . all the tutorials I can find are in java. Thought robots were not supposed to be constructed till the start of build season. It is a cool engineering challenge, and I respect the teams who got it done, but a coaxial swerve will get you most of the same benefits for a fraction of the effort. Reddit's home for the FIRST Robotics Competition! Members Online. To accommodate the new wheel the MK4 uses our new 2nd Generation bevel gear set. It might have slightly more authority, but I feel like it'd be inconsistent. Please tell our team how you like it and if its worth it Thanks -programmer 3668 WPIlib supports swerve drives natively this year, so programming them isn't too complicated. My second advice is to figure out a proper method of right-angle gearing that won't slip, as gear slip was the greatest issue with my swerve drive robot. Most teams don't have the capability of milling and testing a custom drive and to have it out perform the commercial counterparts, however on a test bot or practice bot it can be a great experience. New. And having the drivers get used to the drive system will be crucial. Supports out of the box: Falcons and Neos motors, Swerve Drive Specialties MK4 modules. Basically, differential gets you a lot more torque at the cost of development time, money, and more development time. At a minimum it just looks like more fun. This is a stand I designed for the Swerve Drive I designed in order to hold it while working on individual modules. Swerve drive operates using two joysticks from a single controller. i’ve been recently thrown into programming the swerve yay from people’s experience, how long does it take to program it? like if you had to accumulate all the Reddit's home for the FIRST Robotics Competition! ADMIN MOD Swerve Drive w/ MK4 modules Hello all, I could really use help on getting code with the MK4 modules. The first joystick we will call the ‘strafing’ joystick, as pushing it Reddit's home for the FIRST Robotics Competition! In a swerve drive, the wheels themselves can be independently pivoted to point in any direction as you’re driving. So tldr Steven is a god and Reddit's home for the FIRST Robotics Competition! Members Online • FlameAquaShock . This is also our second year trying to code with Java. The idea was to use it to quickly travel horizontally while spinning to place our cones easily, but we've been having issues. When driving sideways, you can get max 95% and that's if you have a light bot and good mecanums. Reddit's home for the FIRST Robotics Competition! Reddit's home for the FIRST Robotics Competition! Members Online • HarryK1126. I haven't been able to find like any examples of Swerve Drive Traditional (“coaxial”) swerve drives use Servos to pivot the wheel, and most servos aren’t up to that task. Tesla cybertruck to use CAN bus for electronic data communication, poses major design flaws by adding more points of failure, does so to The CG thing may not seem like much, but you are effectively moving +10% (more if you are making a lighter robot like many tend to be nowadays) of the robot down 2 inches (and total cg by about a 1/4 inch). Our team has used it to great success for several years. For all your gaming related, space exploration needs Yeah, we were 2020 rookies with a 4th week regional, so our first bot never saw competition. Expand user I watched frc 0 to autonomous programming a swerve drive to learn how to program our new swerve drive and I don’t know how to fix my problem. The differential swerve robot configuration has a BNO055IMU, referred to in its config file as "imu". ADMIN MOD Swerve drive 2 meta If swerve drive is so good why don’t we have swerve drive 2 Share Add a Comment. The swerve drive specialties modules are the best cots swerve available. 5M subscribers in the KerbalSpaceProgram community. ADMIN MOD MK4i swerve drive with CAN encoders tutorial . Best. Reddit's home for the FIRST Robotics Competition! Members Online • aumchanting. It’s also slightly So after the 2023 season of the FIRST Robotics Competition, my team has decided to buy swerve for our next season, but because this is our first time buying a set of swerve, we faced some 1640 has always viewed swerve drive as a strategic investment. 00. Summary: I need help to get code for MK4 Drive practice cannot be emphasized enough. Here is It is neat to build your own, but it's unlikely that you will get the same performance and reliability as a COTS swerve. We're in Michigan, so we also have an interest in having the middle school FTC teams we run use swerve with field relative control so the kids will have ~3 years of drive experience by the Hi, I am a programmer from 747 and we are looking to build a swerve drive over the summer. Our swerve cad has 8 falcon 500s for drive with 1 falcon 500 on each swerve containing a dog clutch that can engage to provide more pushing power or be redirected to other 21 votes, 16 comments. It's not only about driving the robot well, but taking advantage of the swerve drivetrain's unique attributes. The axis look like this: Fwd/Bkwd Joy is Fwd/Bkwd on the robot Left/Right Joy is Strafing on the robot Seems a bit jerky while swerve is smoother. 18K subscribers in the FTC community. Scan this QR code to download the app now Reddit's home for the FIRST Robotics Competition! Members Online • Geography-Master . Reddit's home for the FIRST Robotics Competition! Our main gameplan for the offseason/preseason is to build a swerve drive so far; however, I'm currently thinking about octocanum drive. the modules we have are the MK4i with the Falcon500s Gear Ratio(14:1 Reddit's home for the FIRST Robotics Competition! Running modules in tank drive. If we turn while driving with field centric enabled, the robot will drift to the side in the direction we're turning. They could turn sharp corners and maneuver so much better than a traditional solution. Reddit's home for the FIRST Robotics Competition! Members Online Tesla cybertruck to use CAN bus for electronic data communication, poses major design flaws by adding more points of failure, does so to "use less wire" :/ Swerve also lets us side step odometers since a well tuned swerve won't slip - but I think you know that last part. Previously, 5975 CYBOTS had issues running VEX 393 motors as they had too much slop, eventually leading them to lock their pods in place and switch to mecanum. Weird asymmetric nonsense could get funky. Also a not on crab swerve, do notice that crab swerve is not actually fully holonomic Reddit's home for the FIRST Robotics Competition! No experience with it myself, but what you could do is build a swerve drive test chassis, get it running, and get your drive team some practice with it (I understand there’s a fairly steep learning curve if they haven’t driven swerve before). Decoupling your head and hand movements simply takes a lot of time and practice, but ThirdSunRising is giving good practical advice, especially the point about looking down the road, rather than immediately at what's next to you. The modules are a little pricey (~500 USD per module including motors and controllers) but if you have the time and money to learn them, absolutely go for it. ADMIN MOD Question about swerve drive wiring, where do I plug the encoder wires in, we already have the 8 motor controllers but there is still the encoder wires to deal with help Share Sort by: Have any of you attempted to do a swerve drive in which the wheel pod is connected to the robot, without the use of a lazy Susan/turntable? View community ranking In the Top 5% of largest communities on Reddit. We will not be using swerve in competition in Rover Ruckus for various reasons. 0 coins. help My team wants to use swerve drive and Idk where to start or even how to program swerve drive we ordered falcon 500 pinion for our sds modules and I was wonder if someone would be willing to teach me how to do so Share Sort by: Flight control joy sticks are what we have used for Any holonomic drive ( Omni, Swerve and X drive )robots. I don't think they'll soon make swerve bad, but we could definitely see a game with paths suited to tank drive capabilities, where swerve is less dominant in the next 3 years. We have mk4i swerve modules and are trying to code a field-centric drive. The MK4 is an upgraded version of our popular MK3 module. So , assuming FIRST addresses this with a game that does have long stretches to build up speed. Please add more here, but the weaknesses of swerve drive I can think of are: cost The community-run and developer-supported subreddit dedicated to Fall Guys – a video game developed by Mediatonic Games which flings hordes of contestants together online in a mad dash through round after round of escalating chaos until one victor remains. However saying swerve type drive in the title wouldn't sound as cool. Don’t write the code from scratch. We are currently private in protest of Reddit's poor management and decisions related to As for the swerve drive-related parts of the library, SwoLib includes built-in odometry to track the robot's position on the field in 2 or 3d space. r/3Dprinting A chip A close button A chip A close button With mecanum, when driving forward/backwards you don't engage any rollers so you drive at 100% efficiency. I created my first rendition in about a week and have been going through many different renditions over the last 2 weeks. but they are going to cost quite a bit. r/ender3v2 Reddit's home for the FIRST Robotics Competition! Members Online • greenowl55 . Swerve just makes all that happen at once. My team is lucky enough that we are able to afford SDS swerve modules every year from 2022 onwards. There are also more cost effective swerve modules for sale, though they require some digging. A swerve drivebase also costs $2300 with motors and controllers, three times as much as a tank drive. Reddit's home for the FIRST Robotics Competition! Members Online • aigirinandini123. With swerve, you can point the wheels in the direction you wanna go before applying power to them but with trust vectoring you have to use the torque/momentum to turn the wheel and then turn the robot. Does anyone have code published for a 4 unit swerve drive I am not using talon SRX or costly motors rather using REES52 or Cytron MDD10, but I want to implement swerve drive using the motors mentioned above, I am having difficulty in coding this. Modules work fine like this with percent output mode, so I suspect the issue comes down to something PID related. Thoughts? Share Add a Comment. Q&A. While not the best drive train solution for all situations, it is a very attractive drive train for many FRC situations. ADMIN MOD im ignorant on swerve drives . ADMIN MOD FRC Swerve PID tuning . My first advice is to share drive motors among the modules. Be the first to comment Nobody's responded to this post yet. You're exactly right: for translation, all wheels point the same way, and for rotation, all wheels point tangent to the center of rotation. Reddit's home for the FIRST Robotics Competition! Open menu Open navigation Go to Reddit Home. Swerve, but also Steer! The most reliable, easy to use, and easy to integrate swerve module for FIRST Robotics Competition teams. 0. Our team can’t really afford swerve drives (both literally and in resource management at comp), and play almost exclusively defense. Watch matches of robots with good, practiced drivers with robots of similar weight/CG, and Swerve Drive Nightmares Not even sure where to start, but whenever we try to run the robot, the modules go absolutely insane and rotate back and forth until we stop the code. You can put a lot of effort into designing and programming for swerve, but if you're driving it like a 6-wheel tank, what's the point? We are concerned that if we do use swerve drive and it breaks, we will be stuck without a driving robot (should we not have the correct parts or the parts not arrive before competition). Is it possible to use NEOs as the turn motor and falcon 500s as drive motor? On the website, you can buy the module in the NEO or The writing has been on the wall that swerve was going to explode, so it's totally plausible the game designers have been considering swerve in design for 2024. It will take a while to debug the system. Skip to main content. I Now the code doesn’t work at all. 1. If learning swerve drive is one of yours, perhaps its worth it - although, this can easily be done in the off season. Share Reddit's home for the FIRST Robotics Competition! Members Online • [deleted] ADMIN MOD FRC Swerve Drive Motors Question . It's the closest thing I've ever seen to Posted by u/Haggen1250 - 32 votes and 4 comments Reddit's home for the FIRST Robotics Competition! Members Online • test_gang . But it's expensive (in many dimensions). Open comment sort options. There's one small problem, though. 42K subscribers in the FRC community. so my team is just now getting into swerve drive and i was wondering how the modules know the direction the wheel is facing without an absolute encoder. For those who have used swerve drive before, whether or not it's the Mk3, what is your teams experience with having gears, bearings, plates, etc break? I went firmly against my drive coach and asked for robot oriented swerve over field oriented and had a much easier time keeping track of the robot. (first year failed) We've gotten code to deploy to the robot, but it does nothing as we try to move it with the joystick. Because of the 50% increase of width, greater tread life and slightly better traction can be expected. We don't anticipate using it during the competition season in the near to medium future. Both motors drive in the same direction, the module rotates (steers), but both driving in opposite directions, the wheel rotates (drives). Swerve drive in python tutorial help dose anybody know any good tutorials for coding a swerve drive (SDS MK4i) in python. Use rev ion extrusion and use mark 4 swerves it will cost around 1200 for the pods, 1600 for falcons and 100 for the tube mark 4 is Hi, our team is currently trying to program a swerve drive, although we've run into a few issues. Reddit's home for the FIRST Robotics Competition! We are actively fundraising, but as of March 10 following admissions fees and whatnot we have <$1000 to spend on non-discretionary things like workshop 41K subscribers in the FRC community. ADMIN MOD Semi-Swerve drive on actual cars r Yes, and there is a very strong tendency in new drivers to subconsciously point the car toward whatever they're looking at. 10 votes, 18 comments. Very few teams do dodgy swerve, and I don’t think any one of them recommend it if your looking for better performance, because it’s just not worth. Sort by: Best. The Kerbal Space Program subreddit. Any advice is welcome. Main issue with swerve is high complexity for little benefit. I'm planning on organizing an offseason robot for a parade that my team will hopefully be participating in. More posts you may like r/ender3v2. 28 votes, 11 comments. The mecanum drive should be the same as the X or omni drive code. Events of interest include Battlebots, Robot Wars, Bugglebots, Robogames, Fighting My Bots (FMB), King of Bots Reddit's home for the FIRST Robotics Competition! Members Online • Jett_Hendrick. 46K subscribers in the FRC community. The code can however be adapted to other hardware. Factors such as control optimization, driver practice, automation aides, battery health, and robot weight will have a much bigger impact on drivetrain performance. Swerve is great in some situations (our team has run swerve the last 4 years) but if next season's game has a lot of obstacles that a swerve drive might have trouble getting over then we would likely switch to a drop-6 drivetrain again. 1lbs per module, and it’s going to take a little more area on the chassis (although it’s shorter). Be sure to check your swerve drive once in a while. Start right now, build a drive base and start testing. But we are too unfamiliar with the swerve code. Pro Tips on writing Swerve Drive, so that no mechanical harm will appear help We got our first ever mk4i modules last week and are going to start building in a week. . ADMIN MOD Do swerve drive robots generally use an absolute heading-style driver control? help Locked post. We decided on using the YAGSL library per the recommendation of a mentor, we do like and understand it, I would also say it is going relatively well as we are able to more forward, back, left, and right quite effectively and have set up our absolute encoders to work properly. You can imagine it's a drone, the exact same way to control it. Swerve drive allows for the operator to strafe the robot in any of 360 degrees as well as rotate along the same axis. I've personally been troubleshooting, but nothing is seemingly working. New comments cannot be posted. And yeah it would’ve been impossible for us to even compete with a swerve drive without it. What is Swerve Drive. Reddit's home for the FIRST Robotics Competition! Members Online • ultimate_hecker. If you It's certainly not "OP". I have only ever seen swerve drive outside of robotics competitions on huge trolleys used to tote around Boeing 787 noses in a warehouse clean room. Do you need a lazy Susan for a swerve drive? Swerve controls have to be different than typical holonomic drives. help Greetings from team 2352! Last summer we decided to try out swerve Drive on a couch that we modified into a bot. ESP8266 WiFi Module Help and Discussion ESP32 is a series of low cost, low power system on a chip microcontrollers with integrated Wi-Fi and dual-mode Bluetooth. true View community ranking In the Top 5% of largest communities on Reddit. ) The other stick can be used for turning angle (robot-centric) or direction (field-centric. My team has been working on swerve drive in the off season, as sort of a long-term side project. Hello, I am with team 5857 and we have recently started programing our mk4i L1 swerve drive for this season. 44K subscribers in the FRC community. Or check it out in the app stores Fully 3D printed robotics swerve drive module Image Share Sort by: Best. Or check it out in the app stores Robot Reveal After long months of development and many weeks of editing, Team 16379, and members from others, would like to Hi, i am on a rookie team and this is my first time doing robotics and I am unsure of how to connect the coding (python) to the robot. The intended program design is to only have the motors to react input from the joystick. true Reddit's home for the FIRST Robotics Competition! Members Online • Jett_Hendrick. /r/battlebots is a reddit community for fans of robot combat. Reddit API protest. ADMIN MOD Grippiest and/or least wearing wheels for swerve drive? My team uses SDS MK4 modules, and we usually just use the stock SDS wheels, or the black treaded ones. In short: No. Our team is looking to buy x4 MK4 swerve modules from SDS but we don't have 8 falcon 500s. When we enable TeleOp the drivetrain essentially does as it feels. This makes the drivetrain more maneuverable than mecanum, but without any loss of pushing power. $609 worth of bolts, fasteners, and washers This issue was absolutely destroying our robot in our testing field. Locked post. This odometry can also (optionally) be integrated with SwoLib’s limelight to automatically correct for any drift with 2023’s AprilTags. I am a little new to this and know that I’ll In your opinion is the MK4i worth the extra $220? Those improvements are nice, but it’s going to cost you 1. The number 1 turn motor rotates clockwise then stops and turns counter clockwise. For context, a swerve drive works using a motor to rotate the wheel and a servo to angle the direction the wheel is facing. We have the MK4i Swerve Modules (from Swerve Drive Specialties) and cannot figure out if they need any special kind of wiring or ways that you wire them. Anyone have tips or code we can check out? We have 3in Posted by u/alduxvm - 10 votes and 8 comments r/engineering is a forum for engineering professionals to share information, knowledge, experience related to the principles & practices of the numerous engineering disciplines. 133K subscribers in the WWEGames community. Swerve code is a solved problem. As your development ability improves, you may I was hoping that you’d help me out with a shopping list for small swerve drive robot I can use to mess around with a jetson nano and ROS. Top. As a result we were never able to finish it properly. Swerve Central Breakdown. Does anyone know how I can best translate the angle in degrees into the two axis? Most teams that do swerve use two sticks on any set of controllers, one XY for either translation relative to the robot (robot-centric) or relative to the field using an IMU / gyro (field-centric. I've never seen anything else like ours though (which is probably for the best) and I'd love to hear about anything similar - Reddit's home for the FIRST Robotics Competition! The Mk4i modules from Swerve Drive Specialties make building a basic drive base really simple. Or maybe various barriers that need to be climbed Get the Reddit app Scan this QR code to download the app now. Interesting to see all these swerve drive bots fully built already. Reddit's home for the FIRST Robotics Competition! Reddit's home for the FIRST Robotics Competition! Members Online • greentractor202. Struggle getting swerve drive working help in my engineering class we are preparing for the upcoming FRC season and we have swerve drive for it, but we are struggling to get this working. This subreddit has gone dark as part of a mass protest against Reddit's recent API changes, which break Hello! My team leaves for First in Texas state tomorrow, but we haven’t been able to get the robot to move and turn at the same time. P1 P2 P3 I’m pretty sure we used a 3 motor per side tank drive during my senior year. Because of this, controls for a swerve drive are usually different than x and mec drives. I don’t know how to fix the turning angle without throwing off the other angles. 43K subscribers in the FRC community. I think you have the MK4 remember to assemble them properly take great car during there assembly follow every instruction in the Different teams have different priorities. ) It's really difficult to maintain the swerve drive. The hope would be if you swerve the other guy also swerves back right and all contact is avoided. thanks for your help. The main downsides of swerve are how expensive the drive can be to build, the 15 votes, 14 comments. Theres a chance you have at least a lanes width before you hit a tree or a pole, plus they are spaced out, so a swerve and a hard brake is probably your best chance to minimize damage. Those add up when 130 votes, 32 comments. 2 screws came loose and Steven had to disassemble the entire swerve module. - FRCteam3550/B Reddit's home for the FIRST Robotics Competition! Every time I see a swerve drive ripping I wish there were more swerve drives in my everyday life. Reddit's home for the FIRST Robotics Competition! This is our first year with a swerve drive, we were rookies last year. The drivetrain you use is part of the design process of your robot based on the specifics of that year's challenge. It was certainly an experience though and a dive into the world of full custom and especially vex pro with 1/2 hex. Hopefully first rethinks this decision because I’d hate for swerve drive to become more oppressive to go up against Maneuverability, no matter the drive base is key. ADMIN MOD swerve drive . // PSEUDO-CODE for MECANUM or OMNI, // with or without FIELD-CENTRIC CONTROL (gyro) Posted by u/genuinerobot - 12 votes and 3 comments 252 votes, 15 comments. Because the motion of the drivetrain isn't truely 'holonomic. Thousands of teams are using swerve and hundreds have made their code available. After going to 20 ports we won't go back and we are a swerve robot. Be the first to comment That being said, your task can be divided into three main parts: 1) Get driver inputs and convert them into requested velocities for your overall robot, 2) covert this to positions (angles)/velocities for each swerve module, and 3) Drive each swerve module according to the requested states. help For those doing swerve drive are you guys tuning the rotation motor with system identification or just balling? if you Our high school robotics team is looking at the possibility of designing a differential swerve drive over the summer, but aren't sure where to start looking for instruction on designing the gearing for it, specifically what I see as a "circular rack and pinion" that runs around the top and bottom of the wheel that transfer the motor power to the wheel's bevel gears. On the swerve code, many teams have tried, with less than ideal success, to put the rotation input on the drive/translate joystick (like on a flight stick, where there is another stick on top of the first. Posted by u/Xroyal383 - No votes and 10 comments Reddit's home for the FIRST Robotics Competition! This year seems to be the year of swerve, my team also built our first swerve drive over the off season, i don't have any tips tho because I'm on cad Reply reply Top 3% Rank by size . Reddit's home for the FIRST Robotics Competition! Members Online • Dull_Recognition_606. Differential drive is really close to instant strafe, but it's not as instant as mecanum. ADMIN MOD Swerve Drive loud buzzing sound I was working on the swerve drive after the season and did a partial rewrite (beacause why use wpilib when you can do the math, its much more fun). Join and and stay off reddit for the time being. You can then also twist the joystick. Ive fixed many other issues, but there seems to be this loud buzzing Reddit's home for the FIRST Robotics Competition! which will make it much easier to calibrate your swerve drive code. All of the tutorials are confusing and I don't know which one is the best for FIRST. A four drive motor swerve drive will have more power at the wheels than a mecanum drive, as with mecanum the force on the wheels goes at a 45 degree angle to the rotation, meaning there is 1/sqr(2) (~70%) of the motor power going through the wheels at most, with full power 45 degree angle movements going at 50% power at most. ADMIN MOD Swerve Drive Maintenance . 1640 Price: USD 300. Currently the robot wheels move and turn but not in any sort of reasonable Reddit's home for the FIRST Robotics Competition! Members Online • AstroGaming2307. Swerve Drive help Hey everyone, my team is struggling to figure out swerve drive this year. To do both at the same time, you want to think about having a translation vector and a rotation vector This year we used REV Smart Servos on our robot for various different tasks, and they were great and served their purpose, however they are not as fast as we would like them to be to drive an intake for example. The angles the swerve math spits out are wrong, so the wheels are off for turning, but they’re right for everything but turning. Reddit's home for the FIRST Robotics Competition! Members Online • Wormster21. The joystick is 3 axis meaning you can push it forwards, backwards, left and right. The load of intricate components allows for a lot of things to break as shock travel down If you're looking to use Falcons or Krakens on your swerve modules, then I'd highly recommend either Swerve X from West Coast Products or the MK4i's from Swerve Drive Specialties, Hey guys, Is there any cost effective way to build a swerve bot without the high price tag of each assembly? Honestly, not really. Curious what other teams are using, and if there are better alternatives. Field relative is an easy thing as well. In FRC circles, swerve drive can be used for any drive train in which all drive wheels are steered. ) u/swerve-drive-only. The MK4 features our new 1. pizza_burrit0 • Swerve drive is expensive, the modules are sold individually, normally a chassis is around $1,400 I'm currently programming a swerve drive but I've run into a few problems. An example, here’s the bill of materials for Swerve on an individual level is going to cost ~350 depending on the complexity, and go down over time, looking at 1640’s Swerve Central page. This results in cleaner and more precise drive performance of your finished chassis. For this forum, the definition will be restricted to drive trains where all drive wheels are Posted by u/pwbynum7667 - 13 votes and 2 comments In FRC, what most people use (what would be “typical”) nowadays is coaxial swerve (can turn infinitely). Swerve drive with Canandcoders changing setpoint to random number help We recently built a secondary bot and switched from CANcoders to Canandcoders for the angle absolute encoders. Both designs require off-season prototyping, but swerve takes a lot longer to code. The field is getting hit, robots are getting hit ( or some combination of these) and it’s breaking things. Open menu Open navigation Go to Reddit Home. Reddit's home for the FIRST Robotics Competition! Reddit's home for the FIRST Robotics Competition! Members Online • Pineyboi4. Swerve was once a drive style only attainable for top tier Reddit's home for the FIRST Robotics Competition! Members Online • Furiousbrick25 . ADMIN MOD Swerve drive (I have no idea what I’m doing 😭) help I’m the only programmer on our team and I have very little experience. Both motors (per module) control both the wheel and the steering depending on how the speeds differ between the motors. It just gives an even surface so that I can have a non frustrating time and getting annoyed when If you want to do swerve, differential swerve or more traditional coaxial swerve are probably objectively better. I think one of the biggest thing holding them back is that we use Timed Robot instead of Command-Based. Not sure why this is the case. help hello our team is using a MK4i swerve drive with CAN encoders, this is my first time coding for FRC and I am wondering if anyone knows of a good tutorial or example code to start off of. Swerve drive wiring I think most swerve drives use Falcon 500s or Neos with CAN connections for both motor control and encoder signals since both of those motors have integrated encoders. we are close but I don't know what I need to do in the code to make it work. Yet there are fully wired swerve Drivebases posted all over the internet. Once you've bought them, however they can be used from robot to robot. ESP32 is a series of low cost, low power system on a chip microcontrollers with integrated Wi-Fi and dual-mode Bluetooth. we are Swerve to the right. As an example, why arn’t there swerve drive cars, or at least wheelchairs. Swerve can immitate literally every drivetrain out there, so make some decisions on what you want functionally rotation gets its own stick. As long as you have good rear traction, I think that's the best you'd get. If you had no budget for your FRC robot, what swerve module would you go with and why? Reddit's home for the FIRST Robotics Competition! Members Online • NuEx_Arrow. Reddit's home for the FIRST Robotics Competition! Members Online • NoGoodGodGames. And the robot drives itself (without any controller input) when enabled through driver station. help hi ok so i have a couple questions about swerve drive. We still had access to our shop (which was a garage at the time) for 2021 so we decided to go risky and build an ambitious IR@H bot with a swerve drive and adjustable hood shooter and fallback to the 2020 bot if we had to. Something to try maybe, I only asked because I have been driving RC cars for 10+ years and my brain was already wired to deal with "forward" changing directions. the roboRIO 2. Yes, but at the cost of complexity. I'm trying to create an autonomous command that will give my swerve a forward and strafe power based on an angle input for the command. You basically just cut 4 pieces of 2x1 aluminum tube and bolt the modules to the tube; no machining, gussets or welding required for a basic starter drive base, just a small amount of drilling. Github in . If you still want to do (I believe this is called crab drive?), go for it! You will probably learn a lot, and maybe even end up preferring it over more traditional holonomic drivetrains :) Good Luck! Reddit's home for the FIRST Robotics Competition! Members Online • The_Lego_Maniac. ADMIN MOD swerve drive questions . Reddit's home for the FIRST Robotics Competition! Coins. Reddit's home for the FIRST Robotics Competition! Members Online • StarkOdinson216 . Get the Reddit app Scan this QR code to download the app now. Add your thoughts and get the conversation going. 5" width Billet Wheel. We welcome those with a casual interest in television shows as well as the enthusiast community. I'm a member of an FTC team that built a 4 wheel differential swerve drivetrain for competition this year. For most recent games, I don’t think you’re going to improve meaningfully on a good 6/8WD tank (for most teams, specifically the kit drive base) without going to swerve. We are using Java and have some starting code. Despite it being one of the most compact and lightweight modules available, 272 votes, 13 comments. Though it is possible to have a drive motor per module on an FRC robot, in NXT it is unfeasible to do so with a single NXT brick. Open comment sort options The plans for the main The design in the picture you had would have more pushing power than almost every swerve drive, due to the fact that swerve is usually 1 CIM per wheel, this is 3 CIMs per 2 wheels, but most octanums are 1 CIM per wheel. A 4 wheel drive bot with either all wheels at 90 degrees (omni-wheel style) or in-line with 45 degree I don't believe there's ever actually been a swerve-drive combat robot. Alpaca1061 There were definitely other examples of swerve / crab drives back in 2008 when team 568 competed with our own experimental "budget" version. Need help coding swerve drive help My team recently put together our swerve drive and we have been trying to get it running before the season started, unfortunately that did not happen. Having SYSID w/ Swerve Drive . With x drive, whenever you're using all 4 motors for driving you have to engage rollers which just makes you drive slower cause omnis are weird. r/FRC A chip A close button. (excluding swerve drive) not necessarily because of the wheels themselves. Get app Get the Reddit app Log In Log in to Reddit. We have been running into an issue where when the robot is turned 90 Reddit's home for the FIRST Robotics Competition! Members Online • I think the advantage to a custom swerve drive is really being able to make it what you want it. can anyone help me with the basics Reddit's home for the FIRST Robotics Competition! Members Online • Geography-Master. Swerve bot Autonomous drive problem . It’s a swerve drive Yeah I’ve seen theirs but maybe this is the beginning of consumer swerve drive cars If you slap 2 swerve on the back, and 2 omni wheels up front, you'd probably get a bit of the same feel as full swerve, but with less authority. help So my team is using their first swerve drive this year for an off season event, and I have most of the code done, but I cant get the modules to align, I have no clue how to find the offsets, and when I do set the offset of one You really really really really really really really need solid reasons to do swerve. Share Add a Comment. The ESP32 series employs either a Tensilica Xtensa LX6, Xtensa LX7 or a RiscV Reddit's home for the FIRST Robotics Competition! We want to buy a swerve drive but are concerned about price. Reddit's home for the FIRST Robotics Competition! Reddit's home for the FIRST Robotics Competition! TECHNICALLY it's not a swerve drive as they are linked, the wheels are not fully independent. Swerve Drive Help Help Our team (7784) is purchasing swerve this year and were looking for help coding it, we use Java, and any assistance is more than appreciated, we were Hi there, we are team 5658 and are having issues creating a code for our new swerve drive. Reddit's home for the FIRST Robotics Competition! Base swerve example code for a FRC robot. One team this year used servos that were around $150 each to direct their swerve drive Looking for a sample Swerve drive code to integrate with Roadrunner, like the sample Mecanum Drive that comes in the Quickstart. ndy skcf jgz hatcr lclq iqcys dthbukg fml trhenfi hkn