Swerve drive with automatic rotation?

[Chexposito]

Originally Posted by Ether

what made the function so complicated ?

well the wheels had to turn to 90 to make the long side as the forward for Z our iri robot was made long side first, which took out this need. our crab-drive couldn't turn forever, so we had to be sure not to twist off of cim wires, thus we had to count to a certain point before our wheels would twist back to where there was no wrap. we also had to create a function that converted the counts from 0 to 360 no matter what the count. then a pass that into another function that decided the closest way to get to the heading determined by the joystick. then had to do vector addition from the joystick to create a magnitude from 0 to 1 along with a degree for the heading. on top of that, using the gyro to correct to where you where "pointing with the joystick" is where you where going. also the pid used on the steering... it was a huge head ache that pretty much created a mentor programmed robot... which was pretty much trying to make a crab drive have the ability to maneuver like mecanums...
this year was different... however some people on the team that had no idea what went into creating all of the stuff above, which may not be all of it, wanted something similar with this years robot which is a 6 wheel drive... i told them no, because there was no reason to do so with such a simple drive system.