Differential Swerve Drive

Onshape file: cad.onshape.co...

[@mqct24]

mom I want a differential swerve drive for christmas

[@williawesomeness4040]

Only 500 dollars per pod, a bargain

[@danamulter]

Dude, sick. I'd watch a full build-out video of this, from design to iteration to final implementation. This is a wildly strong interpretation of the system.

[@Iamwolf134]

It's this kind of design that's actually rather useful in Robot Combat, particularly when it comes to developing full body spinners.

[@Aren-Hill]

If your robot is a full body spinner our drivebase is already a "differential swerve module" relative to it, just multiple wheels instead of one. If your robot is round holonomic motion isn't that useful as it just turns into a race of turning a module faster than the drivebase would turn Clean implementation OP

[@thedevilffs]

No idea why this was in my feed, but that's pretty sick. Well done!

[@hardwareful]

probably promoted with sweet OnShape money.

[@jonathonmccallum767]

Aweome stuff William, keep it up 🤘

[@rubendekkerallround474]

Your desk looks Just like mine ❤

[@imabeapirate]

I cant wait for odrive to automate PID tuning. good work!

[@user-qc6fn2ig9y]

I love it! Go wild boars! - AJ from 6328 (Dee's first FRC team)

[@yuukil5522]

respect to you guys at 6328, loved kairos and the use of casadi this year - M from 4183

[@metronomemusic7165]

6328!! big fan of ya'll's media team, major props to ya'll- LJ from 3636

[@zach4505]

FRC 2024 inspection gonna need to look out for this one. It looks like 4 propulsion motors but is actually 8 with this.

[@SMujiH]

Absolute STEMlord has entered the building

[@gEtar87]

Came here for the funny name, stayed for the content. Subbed.

[@googleyoutubechannel8554]

Subscribed to hopefully see this thing complete and working... Very cool so far, I know college students get busy and drop projects sometime, so don't sweat it if this happens, but good luck!

[@peterhoffman135]

Love it when things work in real life

[@ScaleScarborough-jq8zx]

Don’t let the rappers get a hold of this.

[@Trevor-Glasheen]

Looking pretty nice!

[@sorenhubble6531]

Could you share exactly how this works? maybe a CAD file or something? Its super cool!

[@williawesomeness4040]

Here's the cad: cad.onshape.com/documents/5802116a64b9502fc5c1e9d4/w/8993412d8a515d997492bb65/e/52fd7b073d6e0acf3020c5e5

[@zach4505]

​@@williawesomeness4040nicely done, the planetary reminds me of a ecvt, If you needed the most power at any speed, this might help, at the low low cost of yet another moror.

[@joen7526]

I didn’t understand how you made the drive motor into the turn motor as well?

[@miketrinidad7408]

I don't understand anything. but I like it! Subscribed!

[@TheLazyComet]

its like those 3D printers that rather then use an X motor and a Y motor use the difference in speeds of the two motors to go in X or Y. Clever

[@user-ej6jw4yb5c]

Thats fucking cool dude.!!

[@Pseudonity]

Great Explanation!

[@myroadtospace]

Great work.

[@cursed_cats5710]

Diffy swerve control loops must be a whole lot more difficult than coax

[@cj_clippy]

MOAR

[@dayworkhard]

nicely done kid.

[@hellobill3569]

New FRC rules make this useless though :(

[@zach4505]

Only useless in FRC. But really how are inspectors going to look for this? The microcontrollers are a clue, I guess. The trust in GP is the real gatekeeper.

[@nguyenminhthanh1122]

which motor do you use?

[@HarveyChen253]

Hi this is Harvey from PCBWay and we really like your content. IS there anyway we can collab?

[@4tra]

i want to be as smart as this kid

[@chibuezendiokwelu63]

Hey great vid How do I get the MIT course

[@chadwardchadstein7126]

paint it red so that it can go fasta

[@partial_]

Was this ever used in an frc robot?

[@zanehakim7684]

This module likely not. In previous seasons there have been Diffy swerves. However due to the propulsion motor limit diffy swerve as well as 3 motor swerve is no more in official events.

[@bami2]

Not an answer to the question but are being used very uncommonly in combat robotics, most notably Triple Crown in the heavyweights (250lbs) and Shifty in the beetleweights (3lbs)

[@AadiPatangi]

are you using a raspberry pi or a microcontroller? and if so which one

[@williawesomeness4040]

I am using a teensy 4.1 because it is fast enough and has a lot of serial ports for each Odrive

[@Coolgamertag120]

Now illegal :(

[@zanehakim7684]

Firsts propulsion motor rule is ruining chances at happiness.

[@cayenne7792]

whu?

[@pfmoo123]

comb your hair, dude

[@SMGJohn]

You give Asians something, they gonna improve on it, and soon, its gonna go into a weapon system like Gundam