Task: Build a Swerve Drive base
During the discussion about swerve drive, Imperial robotics, our sister team, was also interested in the designs. Since we needed to conserve resources and prototype, I worked with Christian and another member of Imperial to prototype a drive train.
Due to the limited resources. we decided to use Tetrix parts since we had an abundance of those. We decided to make the swerve such that a servo would turn a swerve module and the motors would be attached directly to the wheels. This system would be mounted to a square base. We decided to go ahead and make the base.
Immediatly we noticed it was very feeble. The servos were working very hard to turn the heavy module and the motors had trouble staying aligned. Also, programming the train was also a challenge. After experimenting further, the base even broke. This was a moment of realization. Not only was swerve expensive and complicated, we also would need to replace a module really quickly at competition which needed more resources and an immaculate design. With all these considerations, I ultimately decided that swerve wasn't worth it to use as a drive chassis.
Wait until Rover Ruckus starts so that we can think of a new chassis.