Four wheel module

Swerve Drive System

Modular 4-Wheel Swerve Drive

Designed and constructed a custom swerve drive platform featuring independent steering and drive controls for each of the four wheels.

This configuration enables complete holonomic movement, allowing the robot to translate in any direction while rotating simultaneously.

Four-wheel swerve drive robot platform with independently steered modules
Top view of the swerve drive chassis showing the CAN bus wiring
Swerve module close-up with its steering motor and absolute encoder
Swerve Drive

Sync Steering and Drive Motors

Software based control is implemented to sync the steering and drive motors. Using CAN bus communication, the motors are controlled with a single controller.

In Action

4 Wheel Independent Drive

Achieved precise control with Absolute Encoders and PID control

Used Absolute Encoders for precise control of the motors. Motor control was done using PID control and the robot could move in any direction.

Connected with a PS3 controller wirelessly and could move in any direction with the joystick.