Quote:
Originally Posted by Ether
Assuming "HP" means "pi/2", then the equation you posted is arithmetically identical to the one I gave you, with the exception that you removed the final "/(sqrt(L^2+W^2)/2)"... which is required if you want omega to be in units of angular velocity (rad/sec).
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HP means pi/2... I work in meters, so the other part wasn't an issue for me. Oh and each vector is divided by 4. I have a working demo here:
http://www.termstech.com/files/SwerveDriveDemo.wmv
The demo adds a layer of swivel management where it is paced to 18 radians per second on angular acceleration and only 270 degrees of freedom.
Thanks again for these equations... now I just need a swerve drive robot to put this software on.
