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Summer of swerve

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WeldingRod:
Just so there are project posts ;-)

I've been working with my First Robotics kids a lot...  basically ran the program out of my garage during Covid.
This summer they wanted to try swerve drive.   After seeing a bunch of top teams running them, I bought in.  We reviewed a bunch of designs and settled on Nick Coussens' "2021 Winter Swerve" design, the end results of about a decade of improvement.
I had to -really- up my game on 3d printing and cnc routing to get bearing class fits right off the machines.
The black parts are carbon fiber filled ABS.  Lots of learning there too...
3d printed 3mm pitch belt pulleys!

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awemawson:
Thank goodness for Google . . . . I had to search Swerve Drive !

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