Swerve Drivetrain.

[apalrd]

Originally Posted by buchanan

...While it's unlikely anyone would build a tank/skid steer drivetrain without a software/control system capable of exploiting all its physical capabilities...

I disagree.

Including the ride height automation, I have almost as much code in the drivetrain of our robot as I do in the elevator.

Ignoring the ride height automation, I still have a lot of code. The driver inputs come in, are run through filters if certain conditions are met (to provide better response and less oversteer), can be flipped if the driver requests invert, and are fed through a special algorithm that handles turning and arcing better (to fix some issues we found where the driver requests a (1,0) but really means (1,coast). We then run the commands to the closed-loop speed control (which in itself has automation of coasting to stops and holding position), and then run the shift scheduler.

The simple way of programming a skid steer would be to set the motors to the joysticks.