Quote:
Originally Posted by Ether
Is there a reason you left out the "if(max>1)" part of the normalization?
Code:
if(max>1){ws1/=max; ws2/=max; ws3/=max; ws4/=max;}
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Yup, that was the problem. Now it works great. The difference between the swerve calculator program and Ether's spreadsheet and the cRIO is < 0.01, so I'm happy. It also explains why the swerve calculator sometimes comes up with a solution that has a wheel speed > 1.