Quote:
Originally Posted by Ari423
Since only the front wheels can impart a sideways force on the robot, the robot will turn
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You can compensate for that by "tanksteering" the bot in the opposite direction. But that compensation is based on dynamics (forces) not simple kinematics.
With a true swerve it is straightforward to solve the inverse kinematics to get straight-line motion while simultaneously turning. Just make the direction command field-centric.