24-04-2010, 08:28
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RobotPy Guy
AKA: Dustin Spicuzza
 FRC #1418 (), FRC #1973, FRC #4796, FRC #6367 () Team Role: Mentor
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Join Date: Dec 2008
Rookie Year: 2003
Location: Boston, MA
Posts: 1,086
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Re: Programming a Crab Drive System
I created a spreadsheet to do the math for this problem (it even has a little graph to show you what direction each wheel is turning). As the other poster said, with independent steering for each wheel, once you get the math done correctly there are no special cases and it just works.
http://www.virtualroadside.com/blog/...l-spreadsheet/
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Maintainer of RobotPy - Python for FRC
Creator of pyfrc (Robot Simulator + utilities for Python) and pynetworktables/ pynetworktables2js (NetworkTables for Python & Javascript)
2017 Season: Teams #1973, #4796, #6369
Team #1418 (remote mentor): Newton Quarterfinalists, 2016 Chesapeake District Champion, 2x Innovation in Control award, 2x district event winner
Team #1418: 2015 DC Regional Innovation In Control Award, #2 seed; 2014 VA Industrial Design Award; 2014 Finalists in DC & VA
Team #2423: 2012 & 2013 Boston Regional Innovation in Control Award
Resources: FIRSTWiki (relaunched!) | My Software Stuff
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