Quote:
Originally Posted by marshall
You don't just click and drag the "Swerve drive go roundy roundy" VIs from the palette onto the canvas?
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Code:
import swerve from _future_
But, honestly, with the closed loop functions on the SRX and the VersaPlanetary Encoder stage feedback controls have gotten better. The actual math behind swerves has been published pretty thoroughly. It'll take some loop tuning but at this point I think a lot of the hard parts of swerve have been removed.
There's still UX issues with them but, tbh, there's similar UX issues with most drive systems in FIRST. That'd be a great place to see some innovation - the UX of the operator control. CheezyDrive (SplitArcade) seems to be a good solution for tank drives in that it discourages the Drive, Turn, Drive, Turn approach that is brutal to drive systems. I'd really like to see some dev on similar things for mecanum to address the fact that sideways motion is expensive and as you are driving it auto rotates you drive wheels into position.