Swerve Drive

Are we even using swerve this year? If so, here are some links to get started. There are definitely many pros and cons of swerve, so we need to understand those before deciding to use it.

• Overview of Swerve Drive - Team 1640 has a lot of good documentation on this
• Math for Swerve
• Implementation of Swerve for FRC
• Team 251 Swerve Example
• Team 4048 Robot Code

General Pros and Cons

Pros	Cons
Orientation independent driving	Mass and Time for building
Less steering static friction	Cost
Many drive modes	Complex math and engineering
Can be modular	Driving straight (Does game require this...?)

What Swerve Module Are We Using?

Building it ourselves? Refer to 1640 documentation for more information

• VEX kit
• Andy Mark- based on forums teams seem to like this because it is cheap and easy, but can be faulty