Quote:
Originally Posted by JamesTerm
Ok I will take a stab at this today... with a question. What makes a swerve drive so hard to drive vs. what makes a WCD easy to drive (both tank steering and arcade configurations)?
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I will assume that, in this context, by "tank steering" a swerve you are referring to the driver interface (e.g. using Y axis of left and right joysticks) and
not to the inverse kinematics used (i.e. not skid-steer).
Instead I assume you mean something like this:
FWD = (Y
L+Y
R)/2
RCW = (Y
L-Y
R)/2
STR = 0
... where Y
L and Y
R are the (inverted) joystick commands, and FWD, RCW, and STR are as defined
here.
In that case, I will answer your question with a question: is a swerve with that driver interface "so hard to drive" ?