Swerve Drive

Initially, the robotics team was resistant to the idea of implementing swerve.
Mentors were skeptical of the benefits of swerve and our team's capability to implement the swerve drive software.

I, along with some friends, took the initiative to create the initial prototype independently to prove competency and the benefits of the improved drive train over traditional methods.
I helped put together the drive train and hook up all the electrical components, and implemented the complex software and mathematics allowing differential omnidirectional motion.

3-D printed chassis and modules.

After our initial prototype, the team sanctioned the project and I was made project manager.
I put together a team of 8 to build a more sturdy version (apparently 3-D printed chassis aren't stable).

Keeping the same modules, we built a sturdy aluminum chassis and wired everything with official FRC electronics, and programmed it using the standard FRC libraries.
The result was a fully fine-tuned and nearly perfectly functional swerve chassis - the only weak link was the modules.

After our demonstration, the team decided to invest in swerve drive, purchasing the official modules and creating our 2023 off-season chassis to accommodate the modules.
I built 2 of these 4 modules.