Quote:
Originally Posted by marshall
It's true. I also want a pony.... perhaps even a striped one with a horn on it.
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YAY PONIES!
Every time that we've used encoders for swerve drive, we've coupled them with a 360 degree potentiometer for initial calibration. This way, you (almost) always know where your wheels are pointing and how much you're slipping.
If you throw a well-calibrated Gyro into the mix then you've got field-oriented drive + drift compensation!
We've also had great results using the US Robotics encoders included in previous KOPs. One for steering, and one for drive.