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Re: Swerve Concept
A swerve control algorithm can always run the drive motors one direction and check to see which way to turn. Least distance. Or the algorithm can look for the shortest distance with motor reversal. Both will work. We have done the latter. This does put a stress mechanical and electrically on the module. The first has increased response times. Now say you have a CVT solution for swerve, but the response is asymmetric on the direction of the drive motors. Works really good counter clockwise, terrible clockwise shaft end. Do you accept greater than 90 degree steering solutions for CVT or is the steering response more important? That's what I've asked our team.
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