Quote:
Originally Posted by page2067
I have a question for swerve users this year:
I am interested in how many swerve users this year are 1) 4 wheel independent or not, and 2 ) how many are field-centric (using a gyro) or not and 3) and if 4 wheel independent: use 4 PID's (for steering) vs. 8 PID's (for steering and speed control), or other?
Also I am surprised, that at least on this thread, it would appear that fewer than 20 teams (<0.1%) have swerve?
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For us:
1) we are 4 wheel independently driven and steered.
2) we have field centric as an option we can engage on a button press if we so choose. Because of the issues with defense and all that, we haven't used it a whole lot this year. One solution we had to some of the issues was to also have the ability to reset the gyro on the fly with another button press.
3) we use 4 PIDs for just the steering positioning. We went through some evaluation for finding the best allowable tolerance to give the best response and fluidity of control. We found that tightening the tolerance up too much caused a more jerky shift in movement due to the tight snaps to wheel positions....there needed to be a bit of play to account for the dynamism of gameplay. It noticably increased our effective responsiveness to sudden desired changes in direction once we found that tolerance sweet spot.
For our control, we use the dual sticks of the xbox controller. All translation is on the left stick with all rotation on the right. We also have some driver assist functions built in to some button presses for some more complex maneuvers. We also have an orientation swap feature that allows us to immediately shift whats considered forward and reverse that our driver can use whenever he chooses. Thats in addition to the field centric option toggle and the on the fly gyro reset.
I'm also very surprised at the lack of swerve drive this year. I understand it poses some significant challenges, but the game this year lends itself to a lot of advantages from slick swerve drive control. I'd be really interested in the final tally of swerve drive teams...but, right now this does seem to be a pretty exclusive club in terms of percentages.