Thread: Swerve Drive Control
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Unread 02-04-2014, 13:00
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AKA: Cory Lynch
FRC #2067 (Apple Pi)
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Re: Swerve Drive Control
Why not spend the time on field centric?
I would think that a robot centric swerve drive would be much harder to control.

In our (LabVIEW) code, it only took a few blocks to make it field centric. I stole the rotate vector block from the default holonomic drive code, used it to rotate the translational vector by the gyro reading, and that's about it.
Well, I don't know about C++, though
Last edited by cjl2625 : 02-04-2014 at 13:02.