Open Alliance: Swerve Offseason Project

This 2022 offseason we made a mk4i swerve drivetrain to prepare for the 2023 season. This drivetrain served to give us the opportunity to use swerve in 2023 (we plan to, a post about kickoff coming soon!) and served as generally good training. In the fall we were able to fully setup and make our drive train. Additionally, we trained a group of swerve drivers using this drivebase and our 2022 robot to practice offensive/defensive strategy.

What went badly:

• we didn’t grease the gearboxes enough so they screamed (no physical damage)
• Also we have issues identifying the “front” (still not resolved, just brute force fixed so that teleop would work)

What went well:

• We got a working swerve drive!
• We now have a group of trained swerve drivers
• We had a lot of fun racing it up the hallway (see video)

Photos:

Read the latest about our robot on chiefdelphi!