Quote:
Originally Posted by ratdude747
especially if it is "unicorn drive". it can be made to work but trust me, it involves a LOT of code. (you would know...)
perhaps the worst part for ANY swerve is deciding how you want it to drive...
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This is actually pretty false. The code for a "unicorn drive" (darn JVN for coming up with such a silly name) is actually substantially shorter than most other crab codes. The initial derivation is hard, but once it's done the code is very short, and one function works for ALL cases of input (there is no translation mode, steering mode, etc... Just one mode). The error calculation for going over zero is only trivially harder than normal error calculation, and many teams decide to never reverse module drive direction for mechanical reasons so that function is a nonissue.
Also, you could just take the lazy way and copy the functions Ether posted.
We converted our 2008 crab prototype to an independent drive and steer crab, it runs, and the code is short. Most other statements in this thread are pure speculation.