Quote:
Originally Posted by TheOtherGuy
Swerve is the drivetrain, the control type (holonomic/omnidirecitonal/etc) requires 3 inputs: translation in the x/y plane and rotation. You have only two inputs with the pistol grip, so you cannot control all three DoFs of an omnidirectional setup with a pistol grip controller.
Arcade and tank are two control types as well - the drivetrain is a skid-steer. You are mapping two inputs to two outputs: arcade requires a linear input and a rotational input, and tank requires two linear inputs. The output is the same for both (left and right sides of drivetrain). Since you are using a wheel (rotational) and a trigger (linear), you are using "arcade" style control and should code it appropriately.
I'll add myself to the list of pistol grip supporters.
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You're making a big assumption - maybe the swerve isn't controllable in one of those outputs… Like say a certain 148 robot that could not turn…