Swerve Drive V1-Differential

Swerve is the dominant drivetrain used by FIRST robotics teams, of which I am apart of. This got me interested into how the drivetrain works, leading me to try and create something similar.

This is a differential drive, meaning it uses the sum and difference of the two motors to either rotate, drive, or both. There is also a coaxial drive that accomplishes the same goal but has separate motors for rotation and driving. I decided on a differential drive because there were printable models publicly available, the one I used was designed by Mark Sommers.

The robot communicates via Bluetooth using the ESPNOW protocol, with one ESP32 on the robot, and another connected to joysticks.

Once I got far enough into the project, I realized that what had was imprecise, difficult to control and simply not good enough, this led me to do a complete teardown, and build back from the ground up, designing my own coaxial swerve modules.

PARTS:
Controller: 2x Arduino Atmega, 2x ESP 32
Motors: 2x CQ Robot DC Gearmotor 30:1 2x CQ Robot DC Gearmotor 43.8:1
Motor Controller: 2x DROK L298 12V Dual H-Bridge Motor Speed Controller
Battery: 1x 20V DeWalt Drill Battery 1x DeWalt Drill Battery Adapter.
Additional Parts: 2x 3d Printed Swerve Modules + Necessary Bearings