3.2 KiB
3.2 KiB
type, title, description, status, students, related, growth
| type | title | description | status | students | related | growth | |||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| training-hub | Swerve Training Hub | Learning path for Team 2890 swerve drivetrain — from motor to autonomous | active |
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Swerve Training Hub
Overview
This hub guides students through the Team 2890 swerve drivetrain — from how the motor works to how to program autonomous paths. All content is specific to our hardware: SDS MK4i modules, NEO Vortex motors, SPARK Flex controllers, and YAGSL Java library.
Hardware Stack
- Motor — NEO Vortex (565 Kv, 6784 RPM) → neo-vortex-motor
- Controller — SPARK Flex (60A continuous) → spark-flex
- Gearbox — MAXPlanetary (27 ratios, cartridge-based) → maxplanetary-gearbox
- Module — SDS MK4i (L1/L3 field-swappable) → swerve-modules
- CAN Interconnect — Canjectors (Endz/Minor/Major) → canjectors
- Odometry — CANcoder + YAGSL → mothman-robot-code
Learning Path
Level 1 — Motor and Controller
- neo-vortex-motor — how the motor works, Kv rating, stall torque
- spark-flex — how the controller drives the motor, PWM vs CAN
- maxplanetary-gearbox — why we need gears, cartridge ratios
Check for understanding: Explain why a 6784 RPM motor needs reduction to drive a wheel.
Level 2 — Swerve Modules
- swere-modules — how the MK4i module translates rotation into motion
- L1 vs L3 — when to use each (speed vs. torque)
- canjectors — how CAN signals route from roboRIO to each module
Check for understanding: Sketch a swerve module. Label wheel, gear train, motor, steering motor, CANcoder.
Level 3 — Software and Odometry
- mothman-robot-code — YAGSL swerve implementation
- systemcore — roboRIO replacement coming (understand the platform)
- photonvision — AprilTag pose estimation for autonomous
Check for understanding: What's the difference between wheel odometry and vision pose?
Student Progress
- bruno — Level 1-2, in progress (roller coaster + battery box) — last active 2026-05-05
- riley — Level 2-3, strong CAD operator, rebuilding climber — last active 2026-05-05
Training Resources
- FIRST Tech Docs — YAGSL Documentation
- Chief Delphi — Swerve share thread (tons of student-built robots)
- SDS MK4i Product Page — SDS Documentation
Prerequisites
- Basic Git usage (for cloning YAGSL)
- Basic Java (for reading/changing robot code)
- Fusion 360 basics (for understanding CAD if doing mechanical track)
Gaps Detected
2890-claw monitoring: This hub tracks learning path completion. Gaps surface when:
- A student is stuck on a concept for >3 days
- A hub link points to a missing document
- Student profile shows no progress in 7+ days
Hub managed by 2890-claw. Add students, update progress, link new training modules as they're created.