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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!