Quote:
Originally Posted by T. Hoffman
To 118, what about programming a "tank steer mode" into your control system that makes your swerve drive behave exactly like a single joystick (or double? not sure of your joystick setup) tank drive when climbing the ramp? Lock the steering to point the wheels straight ahead, then use the single or double joystick default driving code as a starting point. Simply avoid allowing extra degrees of steering freedom during ramp ascent.
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They can't. 118 has a "co-axial swerve", with all 4 drive modules powered by the same set of motors (in this case, 4 CIM and 2 FP through a DeWalt transmission). Their front and rear wheel set are each steered independently to change direction.