Quote:
Originally Posted by ekapalka
Could you or someone else elaborate? I'm not entirely sure I understand how this works
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We are in 4-wheel (Ackermann?) steering that is NOT field-centric by default. In that mode we maintain a lot of our momentum because the turns are very smooth. When the driver needs to make a quick maneuver, he pulls (and holds) the trigger on the joystick to enable crab that IS field-centric from the orientation of the robot when the trigger was pulled. The driver has the x and y motion on one joystick and a twist motion on the other. When the trigger is released, the driver is back in 4-wheel steering mode.