Thread: The Hardest Drive System To Program:
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Unread 26-03-2011, 23:08
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Re: The Hardest Drive System To Program:
Quote:
Originally Posted by connor.worley View Post
They're all fairly simple until you get to a full swerve drive. But even then it's just some control loops and a bit of trigonometry.
Joystick has a X and a Y axis; get the inverse tangent of the Y/X. You have your angle (of course, there is something to check if the x and y are both negatives and or on the axis it self. That is easy) Rotate the wheels to that angle (Closed Loop System) Then the magnitude (Pythagorean theorem) is the speed to the motors.

How ever, I heard that it is the crab drive.
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