Quote:
Originally Posted by Tom Bottiglieri
It seems the inability to carry momentum through a change in translation direction causes a swerve to be a bit slow.
For example, on a skid steer setup, you can be moving very fast and basically pin one side to the ground. This allows the robot to use its own momentum to swing around the pinned wheel side. You exit the turn with almost as much energy as you had before, just moving a different direction.
I think most swerve drive software implementations are pretty naive and will just turn the wheels 90 degrees when the driver wants to start moving to the side. Field centric control only makes this worse as there is another controller between your driver and the wheels.
If we ever built a field centric swerve, I would almost certainly allow a drive mode that allows quick momentum saving direction changes. (Maybe a single button click? Maybe a press and hold button that locks 'forward' to the direction of your last translate command then allows throttle/turn steering?)
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I was thinking about this too. It is very possible to do this using a swerve drive. However, not only can swerve turn like that, it can also do a "basketball roll" around a defensive robot by spinning while going around the opposing robot to keep its momentum.
I recall 254 made some swerve modules in 2008. Where did that go?