Quote:
Originally Posted by Joe Johnson
Can you provide details on the ratios and motors involved on that swerve or do I have to go pester Anthony?
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Hi Joe,
I'd like to help but you'll have to ask Anthony for those details. He contacted me because he needed help implementing integer math. He had coded the swerve inverse kinematics in floating point, and the floating-point emulation library was chewing up all the processing power on the ATmega2560. I sent him an integer-math implementation scaled for his inputs and outputs.