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Differential Swerve Drivetrain

After finishing all of the controls for the single swerve module, I decided to design a full swerve drivetrain with three modules.

So this project is basically

my differential swerve module

x3!



CAD model viewer:

Click + drag to rotate

Breakout PCB

I designed a custom breakout PCB that features signal filtering and power management.

Differential Viewer

Features:

- Phase-enable drive for 6 motors using L293D H-Bridges and MOSFET inverters

- Buck converter setup to step 9V down to 6V + 3.3V LDO regulator

- Onboard status LED's




One of the biggest challenges with this project was GPIO pin allocation. In hindsight I should have used some kind of pin expander but for this project I barely got away with 24 GPIO pins. I ended up driving each motor with phase-enable control using an H-Bridge and MOSFET inverter in order to conserve 1 pin per motor.