Quote:
Originally Posted by Bryce2471
I would not call this a "common swerve maneuver"
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Rotating around a point other than the Center of Geometry of the robot is a very basic swerve maneuver.
Quote:
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Turning around one wheel is the worst case scenario for a swerve with front and back wheels tied because two wheels on the same side should ideally have a large speed differential.
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Indeed. I choose the front left wheel as the Center of Rotation to simplify the problem statement, and to pick an extreme case to try to clarify what you meant by
"do any swerve movement".
If you are interested in exploring the physics of "scrubbing swerve", I invite you to participate (or just read along)
here.