Our team did swerve drive last year, the math for doing it isn't too bad. We found that the harder problem was that we ended up with (essentially) 4 custom servos, and getting them all to line up properly was the harder problem since we were using 2 different sets of motors, and we weren't using absolute encoders (dont ask).
Our C++ code from last year is available at my website:
http://www.virtualroadside.com/FRC/
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I hope you're using Labview. You can create some panels to make the tuning part fairly easier.
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I created a tool in C++ called WebDMA (
http://code.google.com/p/webdma/), that installs a webserver on the robot, which integrates easily with your code and allows you to do tuning tasks. Its quite nice. Theres a demo of the interface on the project site.