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Re: Picking a gyro for field-centric swerve control
Three unpowered omniwheels in a "kiwi" configuration (as the sides of an equilateral triangle, e.g. at 120 degree angles to each other).
An encoder on each wheel.
The entire assembly on a suspension to ensure that it never leaves the ground (assuming a flat-ish field).
Such an arrangement would theoretically give you drift-free position and velocity in R2, and would be robust to collision (as long as the wheels don't leave the ground).
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