SwerveXRP-MicroPython

v1.0.0

This is code for my XRP Differential Swerve Drive Robot.

IMPORTANT: This code is a WIP. use at your own peril!

Right now each module can rotate and translate very well (what I consider the hard part) but all the modules rotate and translate the same, so the robot itself still can't rotate! I will find a few hours sometime eventually to figure out the final bit of fun vector math.

Notes

• Both XRPs run the same code, except I give them both a different Bluetooth name. You can connect to either of them to drive the robot.
• The XRPs need a wired serial connection to communicate with each other. I used 3 Dupont female-female wires to connect D16->D17, D17->D16, and GND->GND
• The zero angle for each module is determined when the robot is turned on, all modules must be manually aligned at that time.
  • even if all the wheels are pointed the same way, some of them might be 180 degrees out of alignment. look for the small bevel gears for alignment.
• Huge props to FTC team 9048, this repo is not much more than a python version of their java differential swerve drive code

SwerveXRP Setup Guide

1. Your robot needs Pestolink-MicroPython. Follow the first two steps in that repo. (doesn't hurt to go through all the steps just to get familiar with Pestolink).

2. Upload Vector2D.py to your XRP robot

   • Click here to download this repository. After that, unzip it
   • In the XRP Code editor, go to file > Upload to XRP and select Vector2D.py from the repo you just downloaded
   • Save the file at the top level, so that FINAL PATH: /Vector2D.py

3. Upload swervemodule.py to your XRP robot

   • In the XRP Code editor, go to file > Upload to XRP and select swervemodule.py from the repo you just downloaded
   • Save the file at the top level, so that FINAL PATH: /swervemodule.py

4. Upload swervemain.py to your XRP robot

   • In the XRP Code editor, go to file > Upload to XRP and select swervemain.py from the repo you just downloaded
   • Save the file at the top level, so that FINAL PATH: /swervemain.py
   • change the robot_name string to what you want the robot to be named for Bluetooth pairing
   • Save the file again

5. Repeat the previous steps for the second XRP

6. Pairing and connecting

   • Go to PestoLink-Online.
   • Press/click Connect BLE. A pairing menu will appear, find and select the robot name you chose. After the connection opens, you can now drive your robot!