Parts
In addition to the four Swerve Modules you built in the previous chapter you will need the following 3D printed parts:
Plus the following hardware and electronics:
Assembling the Swerve Modules
First attach the Front Left Swerve Module to the Back Left Swerve Module using two 1/2″ 8-32 Screws as shown:
Then in a similar manner attach the Front Right and Back Right modules using six more 1/2″ 8-32 Screws as shown:
Finally connect the four Absolute Encoder cables into each of the four Encoders as show. Make sure that the labels on the cables match the Swerve Module.
Add Screw Inserts
Next add screw inserts into the three Panels as shown below:
Then add four inserts to the Shooter Mount as shown below:
Now mount the Motor Controller Mount to the Shooter Mount using two 1/2″ 8-32 screws. Then attach the Motor Controller to the Motor Controller Mount using four 3/8″ 2-28 Screws as shown below:
Now attach the Feeder Motor and Shooter Motor cables as well as the Motor Controller Power cable as shown below. We will not be connecting the other ends of these cables at this time. We are connecting these now because once assembled the Motor Controller will no longer be easily accessible.
Next mount the Raspberry Pi Mount to the Front Left Panel with two 1/2″ 8-32 Screws and attach the Raspberry Pi to the mount using four 3/8″ 2-28 Screws. Then attach the Microcontroller Mount to the Raspberry Pi Mount using a single 3/8″ 2-28 Screw. Finally mount the Microcontroller Board to the Microcontroller Mount using three 3/8″ 2-28 Screws as shown below:
Now insert the Microcontroller into the Microcontroller Board taking care to orient it in the correct direction. Then attach the Gyro Mount to the Front Left Panel using two 1/2″ 4-40 Screws and finally attach the Gyro to the Gyro Mount using two 2-28 Screws as shown below:
Next mount the Aux Microcontroller Mount to the Front Right Panel with two 1/2″ 8-32 Screws. Then mount the Aux Motor Controller to the mount using two 3/8″ 2-28 Screws and insert the Microcontroller making sure it in the proper orientation as shown:
Now attach the cables to the Shooter/Feeder Motor Controller as shown below:
It is now time to assemble the remainder of the Chassis. For this you will need eight 3″ 8-32 Screws, three 1 1/4″ 8-32 Screws, six Long Panel Spacers and three Short Panel Spacers. Assemble them all together as shown below:
