drawer / Mechanical
A drivetrain where each wheel module can independently steer and drive, giving full omnidirectional movement.
also calledSwerveIndependent module drive
where you actually meet Swerve Drive
Swerve is the default now, and it changes what your drivers practise: translation and rotation are independent, so approaching a scoring location no longer means lining up first. The cost is real — four steering motors, four absolute encoders, module offsets that must be re-zeroed, and a maintenance schedule. A well-driven tank robot still beats a poorly maintained swerve.
Free and structured, and none of them need an account to read.
3lessons
the jargon travels in packs
Software
Tracking the robot's position on the field over time using encoder and gyro data (often fused with vision).
read the entryMechanical
The ratio between input and output rotation in a gearbox, trading speed for torque (or vice-versa).
read the entrySensors & Controls
A high-performance brushless motor (with integrated Talon FX electronics) controlled over CAN via Phoenix.
read the entryMechanical
A drivetrain using rollered wheels that lets the robot strafe sideways without turning.
read the entrySwerve Drive is one of 70 entries in the catalogue. The guides are where these words get used in order, instead of one at a time.