What is swerve drive FRC?
What is Swerve Drive. In FRC circles, swerve drive can be used for any drive train in which all drive wheels are steered. For this forum, the definition will be restricted to drive trains where all drive wheels are independently driven and steered.
How does swerve drive work?
“Swerve Drive” is a drivetrain that is specifically designed so that the robot can spin while traveling along any path across the terrain. With each wheel rotating while also pivoting on the vertical axes, the maneuverability is unstoppable.
When was swerve drive invented?
2011
We started in the 2011 off season with the commercially available “Revolution Swerve,” developed by 221 Robotic Systems.
What is crab drive?
Crab Drive is basically a swerve drive but instead of each wheel being rotated by a separate power source, they are all rotated together. The advantage is that its holonomic and has traction wheels, but the down side is that you don’t get the flexibility of movement that you would with a swerve drive.
What is VEXpro?
Why VEXpro? Helping all teams achieve. Engineered by FIRST Veterans, for FIRST teams. Our products are designed so that students can easily integrate them into their robots, thereby allowing them to focus on the important design and creative processes of the build season.
What is holonomic drive?
Holonomic drive, in the realm of robotics, refers to the ability to move in all direction and rotate independently. For example, a tank, which has to rotate before it can move in a different direction, would not be holonomic.
What is a robot drive train?
A drivetrain allows a robot to be mobile by using wheels, tank treads, or another method. A drivetrain is sometimes referred to as a drive base. Drivetrains may also need to travel over obstacles or need to resist being pushed from the side from another robot.
What is CrabWalk in a car?
“Crab Mode,” also referred to as crab walk, was designed to utilize the Hummer line’s four-wheel steer and electric power to freely move diagonally from a standstill, with all four wheels turning to point on the same trajectory and going forward regardless of the position of the car itself.
What is the point of crab steering?
Tractors have crab steering to reduce ground compaction. Having the rear wheels not rolling in the front wheels track reduces the ground compaction since it distributes the weight over a larger area. This is the crab steering mode that the game implements properly.
What language is Robotc?
standard C programming language
ROBOTC is a text-based programming language based on the standard C programming language. Commands to the robot are written as text on the screen, processed by the ROBOTC compiler into a machine language file, and then loaded onto the robot, where they can be run. Text written as part of a program is called “code”.
Can a swerve drive be used for odometry?
A user can use the swerve drive kinematics classes in order to perform odometry. WPILib contains a SwerveDriveOdometry class that can be used to track the position of a swerve drive robot on the field.
What are the optional arguments for Swerve drive?
The mandatory arguments are the kinematics object that represents your swerve drive (in the form of a SwerveDriveKinematics class) and the angle reported by your gyroscope (as a Rotation2d). The third optional argument is the starting pose of your robot on the field (as a Pose2d ). By default, the robot will start at x = 0, y = 0, theta = 0.
How is swerve drive kinematics used in robotics?
The SwerveDriveKinematics class is a useful tool that converts between a ChassisSpeeds object and several SwerveModuleState objects, which contains velocities and angles for each swerve module of a swerve drive robot. The SwerveModuleState class contains information about the velocity and angle of a singular module of a swerve drive.
How to track the position of a swerve drive robot?
WPILib contains a SwerveDriveOdometry class that can be used to track the position of a swerve drive robot on the field. Because this method only uses encoders and a gyro, the estimate of the robot’s position on the field will drift over time, especially as your robot comes into contact with other robots during gameplay.