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Originally Posted by I.Green
Does anyone have a picture or something of crab drive system?
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Here is one of the Grand Dads of Swerve Drive: CD6
There are many more pictures of
CD6 HERE
As to control, I like this method:
2 Joysticks
Y position is aways Forward / Back Tank style drive (fight stick in front of the left implies "twist CCW")
average of X positions define what direction is "FORWARD" (both joysticks to the right - "to the robot's right is FOWARD" both joysticks to the left - "to the robot's left is FORWARD" One Joystick left - "45 Deg. to Left is FORWARD" )
It is makes sense to the driver once they drive for a few minutes: Side to side controls the direction of FORWARD with respect to the robot other than that it behaves like a simple tank drive.
Joe J.
P.S. If my typing is a bit messy it is probably due to the tears in my eyes at having seen my old friend CD6 again. Ah yes, we had such fun together...