Swerve Drive

[CompSciGeek]

So I'm a little confused. Our team, as far as I know, has almost never used swerve drive before. We are making the full omni type that has 8 motors(4 for drive, 4 for the angle) to allow for independent angles on each wheel.

EDIT: Never mind, I realize that my code actually never uses RobotDrive wow lol

Also, what's the default number of channels for every slot in a Jaguar?

[davidthefat]

No. You write your own. And to be honest, I HIGHLY suggest that you start with getting a PID controller working with a wheel. Make that wheel get to a certain angle and stay there. Get that first then try getting the whole shebang.

[CompSciGeek]

Thanks, and I was also wondering the default number of channels there are on one slot for Jaguar/PWM/whatever

[davidthefat]

Originally Posted by CompSciGeek

Thanks, and I was also wondering the default number of channels there are on one slot for Jaguar/PWM/whatever

The default slot of the Digital IO side car thing is slot 2 on the cRio. In software, you set it, there is no "default".

[CompSciGeek]

Thanks. Also another question:

So far, I have 8 Jaguars for drive and turn. I'm not sure if this is supposed to be an option, but is it supposed to be 4 Jaguars and 4 Servos?

[davidthefat]

Originally Posted by CompSciGeek

Thanks. Also another question:

So far, I have 8 Jaguars for drive and turn. I'm not sure if this is supposed to be an option, but is it supposed to be 4 Jaguars and 4 Servos?

You can use a mix of Jaguars and Victors, but I don't think Servos will work, they don't have enough power to turn the gear box.