Simple SwerveYou can build this swerve drive mostly with parts you might already have. All parts are COTS except for one main mounting plate (could be laser cut metal or wood) and a few small modifications on some parts. This is a design only, released for free to the FRC community. This swerve was originally envisioned as a software test platform, but we have seen some teams with VersaPlanetary swerve drives at competitions in the 2018 season! Bill of materials

These wheels work well for drawing balls towards the center then up over a bumper

Your team will need multiple people on this to get the job done in a reasonable time

2x1 frame and gussets in solidmodel for example only

As of right now

Pick desired pulley ratio 22:25 (1:1

1lb (pictured configuration)

or orientated down for maximum clearance of the turret platform

controllers

Solidmodel - NEO550 Motor Up

controller are not included

The design also is projected to support a Falcon 500 motor with a Thrifty Bot 8mm shaft

Threaded post is mounted to a clamping ball joint to pivot as desired