[cmastudios]

The Ratchet Rockers have been experimenting with an omnidirectional drive train based on designs released by Team PWNAGE. The system supports two gears using pneumatic shifting and was designed to support four wheels. The code uses the swerveN equations developed by Ether and available publicly on this forum. A few issues existed with the code last time it was tested but basic driving functionality worked, albeit problems with rotation that should be addressed shortly. The code also fixes an issue where the potentiometers for each wheel have different initial values and need synchronization.

Here is our pre-kickoff open-source release in Java. This code uses the navX library. See attachments.