I created a horrifying wood block frend which I named "balding squidward". I used a 4 by 4 for the body, with precisely cut wood for the arms and legs. I initially wanted to created ball and socket joints for the arms, but I couldn't figure out how to use the CNC properly, so I scrapped that idea. Screws were used for the eyes, nose, and mouth, and his head was sanded to give him a sizeable forehead.

I was advised by a very mean person to first CAD this idea before building it, and to be honest, I didn't make it past the CADing stage. I intend to continue this project throughout the year, though.

I had to research more about swerves, but given my FRC background, it was mostly self-explanatory. However, being limited to VEX parts is a challenge, as I have to make do with the very little I am giving myself. VEX parts are not very strong.

The main research was on which parts to actually use. VEX has many parts that I could have used. However, I decided to use the following:

• 2-wire 393 motors - due to lack of other options

• VEX encoders - due to easier coding in the future

• 5-inch treaded wheels - due to grip and its wheely big (get it?)

• 12 and 60 toothed gears - due to 5:1 gear ratio make it go zoom

• VEX sprocket and Chain - to allow for turning

• 3D printed module frame - allows for a lot of options

A lot of changes in my design occured after seeing that some of my logic was off:

• Instead of having two modules side by side in the middle, I decided to have 4 modules, one in each corner. 

• I also decided to add encoders to the kingpin shaft to track how much the wheel rotates for coding purposes.

• The swerve module frames and the bevel gears the  will be 3D printed for ease of making

It took a while to actually sort out how I am going to make this swerve drive, so not very much was done on this section of the project. I only managed to finish the CAD (but I didn't add the chain because I was lazy).

Testing was limited due to the lack of physical project, but some took place in assembly. Using mates in Onshape, I tested to see if all the parts worked well together and they seemed to do so.

My technical evidence is in Onshape. I have included some pictures for viewing pleasure.

All these photos are different angles of my swerve module. The photos show the mechanisms in mind when creating the module. The drive motor (on the left in the first picture) is connected to a gear system with a 5:1 ratio. This in turn rotates the second axle connected to the bevel gears, causing the wheel to spin, moving the module forward. The turn motor (on the right in the first picture) rotates the axle which is connected to a sprocket and encoder. The sprocket will be connected to chain (not in CAD) and will rotate the module on the left by attaching to the outside, allowing the module to steer. The encoder will keep track of the change in angle of the module, allowing for easier coding.