FTC Coaxial Swerve Reveal
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- Опубликовано: 23 сен 2022
- After long months of development and many weeks of editing, Team 16379, and members from others, would like to present our coaxial swerve drive.
This swerve has been a long development spanning multiple months and multiple countries. While this started off as a fun project, the end result exceeded our expectations.
Swerve drive specifications:
- 4 bare motors on a 10.5 external reduction for the 72mm wheels
- 8 superspeed servos geared down 2:1 for the rotation
- Lamprey2 absolute encoders for angle measurement
- 3" X-Contact bearings to hold the module
- Uniplate aluminum and carbon-fiber construction
- ~13" square dimensions
- Roadrunner and custom kinematic implementations
CAD can be found here: cad.onshape.com/documents/f6d...
NOTE: Please do not ask for export access to this document as it will not be granted.
A thank you to our sponsors:
- goBILDA for financial support and technical guidance
- TheThriftyBot for the awesome bearings
- 221 Systems for the absolute analog encoders
- Long Robotics for servo testing
- Axon Robotics (well we had to pat ourselves on the back didn't we)
Also thank you to other supporters:
- Kevin for financial support, milling, and just being willing to help
- FTC teams 16750 and 16379 for dedicating team resources
- The FTC Discord / discord
- And many, many, others
Without you guys this project would not have been possible.
Credits:
- Veer: Storyboarding, Filming, Editing and Design
- Alex: Storyboarding and Design
- Tristan: Filming and Editing
- William: Filming
- Jamie: Design 
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Swerve has come a long way in FTC! Good job guys, this is really cool. Did you test it under any weight besides the 3 batteries?
Yeah we did, The drivetrain weighs around 13lb by default, and we brought it up to 30lb with steel plates and didn’t notice much difference. I would not recommend making a bot that heavy, shoot for something like 20-25lbs.
nice to see swerve drive being used more often, there are so many new designs too :D
Awesome work!
I would be super impressed to see that course run where the drive controls only the x and y and the rotation switches 90 degrees once every 2 seconds.
The massive benefit that could come out of further development would be the ability for operators to take over momentary control of rotation so that they can line a robot up while the driver is getting it to its destination.
great job!
Incredible editing!
#swervegame
This is sick
Good job veer
This is so cool! A few friends and I are thinking of making our own swerve drive in this years off season, is there any wheels you would recommend for the drive? (formerly did one year of rookie frc and currently on rookie ftc, so swerve seems very cool to be able to do in ftc for my senior year)
this video is so good
Nice one 😎
Amazing
I literally have nothing else I can say
You guys really are the pioneers of making swerve viable in competition. Is there any reason you guys use a axon mini instead of a normal size?
Its a lot faster
I have a small curiosity . The motors are almost touching the ground . When the extra systems for this season will be added , arent u afraid that u wont be able to move ? Because to me it seems that it might be a real concern.
This was just a prototype chassis (sort of a proof-of-concept) that we made in collaboration with a few other people over the offseason. The chassis we are running during the season uses 4 axon servos instead of 8 super speeds, and has slightly higher ground clearance.
how many motors and how many servos does it use?
🔥
sir what the type of motor driver you use and can i ask you code for this robot
kookytotes ❤️🔥
Just curious because I have never used an andymark encoder, how well does it work, and how do you use it with the rev control hub?
just plug it into the analog port. It works well, but has a small amount of noise. Using the onboard low pass filter added phase lag
Thank you
My team is relatively new and would really appreciate if you could share the documentation for your design process
Wow impressive chassis!
Hi, can you guys do a tutorial on how to build a swerve drive at FTC? I really wanna learn how to do it, this is so cool!
there is a onshape link in the description that is view-only, which you can take inspiration from. if you have any questions, you could ask them in the FTC discord, or the swerve drive discord!
Do you guys use go bilda motors and what rpm are they
6000 RPM gobilda motors.
What kind of servo do you use？We could not find such fast continous servo. Thanks!
Axon MINI+
Is there a benefit over mechanum drive, because I don't really see the point to it
Faster in all directions, 2-3x the traction of a similar weight mecanum, and really cool. Example of the traction advantage ruclips.net/video/8ekYT2M4Aok/видео.html
gud gud
is the cad/design documentation going to be published anywhere?
cad in description. I have documentation available but dont want to put it out there yet. shoot me an email for access
\o/
is swerve worth it, also how does it look on an engineering notebook
really depends on the capabilities of your team. if you have a 8 man team where everyone is skilled in programming/ cad / has time to build I'd say go for it.
Assuming you guys are using closed loop control for your modules, It looks to me in the video that the wheels are not achieving the angle setpoints fast enough. I don't know if you've fixed this yet but I would tune it to have much more aggressive constants.
This was v1 of our swerve drivetrain. The servo we were using very holding us back from running a more aggressive PID since they only update at 50hz internally. For our competition swerve, we use 1x Axon Robotics MINI+ per module, which update at 333hz internally, and for this reason are almost twice as fast to reach their desired position
@@kookybotz Oh nice, yeah that should do it. We currently run ours at 50hz but soon about to upgrade to 1000hz, hopefully the switch is worth the time spent writing ugly code :)
@@tewodrosmengistie4133 Just curious, what servos are you planning to switch to? I've never seen servos that update at 1khz, thats pretty cool.
@@kookybotz Might be frc motors?
@@davifacchini7642 yup, good old REV NEOs
which encoder do you have
lamprey 2 absolute analog encoders.
So whens shifting Swerve?
Hmmm....... We are running the v2 in comp this year, and v3 (billet aluminum parts instead of 3d parts) is hopefully soon 👀
4 independent ball shifters kinda yikes for packaging and weight. I can't think of another way to do it off the top of my head. Not sure :)
Can I have the cad to your wheels my team was debating on switching away from mechanic wheels but wanted to see how they fit on the robot first
Mecanum wheels
72 mm 3d printed wheels, andymark gray grippy tread around it. shouldn't be too hard to recreate in cad.
All that's left is swerve in FLL...
What wheels are y'all using?
custom 3dp core with andymark grey grippy tread
@@kookybotz Interesting, do you have plans to have an aluminum core in the future. Because a 3dp core seems like it would be pretty fragile under high speeds
@@apexio2659 Yep! V3 is going to replace most/all of the 3dp parts with machine aluminum :)
@@kookybotz Nice. It's really good to see how far swerve is getting in FTC
you’ll end up having a battlebot if you gave it a spinner
I will suggest to implement traction control while pushing, it looks you are giving max voltage to your motors and you can barely move the omni robot at 2:05
The omni robot at 2:05 is actually a 6wd with traction wheels in the center- this gives it a LOT of resistance to being pushed from the side. Additionally it weighs much more than the swerve
Yes, but slipping wheels reduce your max pushing force, the best you can do is sensing if your wheels are slipping by comparing encoders speed and IMU speed and if there is a difference correct your rpm so you can always have traction and therefore push harder
@@PaoloReyes this like doesnt really do much, as the coeffecient of static and kinetic friction in the wheels isnt all that different from testing. Can also wiggle the robot to vector the force at a different angle to effectively increase pushing power.
I'm a VRC competitor and the current VRC season Spin Up has a lot of pushing and defensive play, and I'm curious as to how I could implement this possibly. could you elaborate on how to execute this idea??
What wheels did you use?
72 mm 3d printed wheels, andymark gray grippy tread around it.
@@TerraVoxel Thanks
Why are these videos all with a LOT of tech music? When is there a video where you can hear real sound of the drives?
#SwerveGame imotbh
Damnnn🤌🤌🤌
ask not if its practical, ask if its cool
swerve overrated imo
Skill Issue imotbh
Diffy swerve goated tho
@@kreeevin Nahhh man said differential swerve 💀
L+ ratio+ discord mod+ get bitches + touch grass
It's literally the best drivebase you can have, you have the stability of generic wheels and the maneuverability of mechanum wheels