Quote:
Originally Posted by Invictus3593
What is the benefit of using this system to control drive output rather than just the joystick values set to the Drive Axes? We did pretty well just binding joystick axes to drive values this past season and other seasons as well.
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our drive system requires a vector force on the two drive axis. We use holonomic drive with omni wheels mounted 90* out of phase with eachother. This approach allows us to get perfect speed vectors meaning it will go in the exact direction we tell it to without drifting and should maintain orientation. While for most teams it wouldn't be needed on the drive, this is just one example with a CIM so if a team wants to do a shooter or something else where an exact controlled speed is needed