fc2f7ed7c7
21 files updated: - MrC references → 2890-claw (training, hubs, recommendations, entities, fabric arch) - OpenClaw → Hawk (entity profiles, knowledge docs) - Removed OC artifact comments (openclaw:wiki markers) - Preserved Fred Cullpepper namesake attribution in author fields
86 lines
3.2 KiB
Markdown
86 lines
3.2 KiB
Markdown
---
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type: training-hub
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title: "Swerve Training Hub"
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description: "Learning path for Team 2890 swerve drivetrain — from motor to autonomous"
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status: active
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students:
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- bruno
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- riley
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related:
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- sources/2890/swerve-modules.md
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- sources/2890/neo-vortex-motor.md
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- sources/2890/spark-flex.md
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- sources/2890/mothman-robot-code.md
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- training/modules/systemcore.md
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growth: tree
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---
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# Swerve Training Hub
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## Overview
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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.
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## Hardware Stack
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| Component | Spec | Doc |
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|-----------|------|-----|
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| **Motor** | NEO Vortex (565 Kv, 6784 RPM) | [[neo-vortex-motor]] |
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| **Controller** | SPARK Flex (60A continuous) | [[spark-flex]] |
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| **Gearbox** | MAXPlanetary (27 ratios, cartridge-based) | [[maxplanetary-gearbox]] |
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| **Module** | SDS MK4i (L1/L3 field-swappable) | [[swere-modules]] |
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| **CAN Interconnect** | Canjectors (Endz/Minor/Major) | [[canjectors]] |
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| **Odometry** | CANcoder + YAGSL | [[mothman-robot-code]] |
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## Learning Path
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### Level 1 — Motor and Controller
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1. [[neo-vortex-motor]] — how the motor works, Kv rating, stall torque
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2. [[spark-flex]] — how the controller drives the motor, PWM vs CAN
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3. [[maxplanetary-gearbox]] — why we need gears, cartridge ratios
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**Check for understanding:** Explain why a 6784 RPM motor needs reduction to drive a wheel.
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### Level 2 — Swerve Modules
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1. [[swere-modules]] — how the MK4i module translates rotation into motion
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2. L1 vs L3 — when to use each (speed vs. torque)
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3. [[canjectors]] — how CAN signals route from roboRIO to each module
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**Check for understanding:** Sketch a swerve module. Label wheel, gear train, motor, steering motor, CANcoder.
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### Level 3 — Software and Odometry
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1. [[mothman-robot-code]] — YAGSL swerve implementation
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2. [[systemcore]] — roboRIO replacement coming (understand the platform)
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3. [[photonvision]] — AprilTag pose estimation for autonomous
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**Check for understanding:** What's the difference between wheel odometry and vision pose?
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## Student Progress
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| Student | Level | Status | Last Active |
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|---------|-------|--------|------------|
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| [[bruno]] | Level 1-2 | In progress — roller coaster + battery box | 2026-05-05 |
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| [[riley]] | Level 2-3 | Strong CAD operator, rebuilding climber | 2026-05-05 |
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## Training Resources
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- **FIRST Tech Docs** — [YAGSL Documentation](https://github.com/Team2910/YAGSL-Allwpilib)
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- **Chief Delphi** — Swerve share thread (tons of student-built robots)
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- **SDS MK4i Product Page** — [SDS Documentation](https://www.swervedrivespecialties.com/products/mk4i)
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## Prerequisites
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- Basic Git usage (for cloning YAGSL)
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- Basic Java (for reading/changing robot code)
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- Fusion 360 basics (for understanding CAD if doing mechanical track)
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## Gaps Detected
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> **2890-claw monitoring:** This hub tracks learning path completion. Gaps surface when:
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> - A student is stuck on a concept for >3 days
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> - A hub link points to a missing document
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> - Student profile shows no progress in 7+ days
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---
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*Hub managed by 2890-claw. Add students, update progress, link new training modules as they're created.* |