Quote:
Originally Posted by JDNovak
As for crab vs swerve. The code to steer from straight through an arc to rotating around the center of the frame has taken years to perfect. Actually, we had the trig working on the Basic Stamp in 1999 but changed to look up tables through the PIC years. We finally got a better version of real time trig working last year. Crab, on the other hand, takes about 10 minutes to point all the wheels in the same direction and turn all the wheels the same speed.
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This is interesting, I was under the impression that the STAMP did not have math libraries included whereas the PIC did. I know the programmer on 27 was very happy to have the math libraries on the PIC. Of course, not only is this a long time ago but it was also when I was much younger and wasn't really paying too close attention to him so I could be very much mistaken.
It does show how far the controllers in FRC have come though.