Swerve Drive 101

FRC mentor and electrical engineer at JHU Applied Physics Lab, Amalan Iyengar, gives a presentation on the basics of swerve drive, compares several swerve options, and gives some tips for teams looking to switch.

Link to presentation:
https://docs.google.com/presentation/...

Link to swerve products list:
https://docs.google.com/spreadsheets/...

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w: eastbots.org
e: [email protected]

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Chapters:
00:00 Introduction
02:10 What is swerve?
04:00 History of swerve in FNC
09:02 Swerve for 2024
13:22 COTS module comparison
21:10 Mechanical tips
26:36 Designing for swerve
29:44 Wheels
36:23 Electrical tips
50:52 Software tips
58:33 Switching from tank
59:20 Autonomous
1:00:54 Questions/Thank you