Swervy

This is a test robot to try and figure out swerve drive, particularly with the YAGSL framework

Physical

• Robot is 2'x2'
• Each corner is a SDS MK4i unit with NEO motors and a CTRE CAN encoder
• • Drive motor is L2, which is 6.75:1
• • Angle motors have 150/7:1 gearing

Motors

1. Front Left Drive. Positive power forward
2. Front Left Angle.
3. Front Right Angle. Positive power counterclockwise
4. Front Right Angle. Positive power clockwise

Angle motors

• The absolute encoder decreases as the angle motors are turned clockwise when viewed from the top
• With the bevel gears facing the right side, the angle encoders read correctly
• Flipping the wheels around also gives a ~180degree reading