Swerve Gear Box

[davidthefat]

Originally Posted by ratdude747

especially if it is "unicorn drive". it can be made to work but trust me, it involves a LOT of code. (you would know...)

perhaps the worst part for ANY swerve is deciding how you want it to drive...

hence why I am more of a fan of mecanum than swerve for competition bots that strafe... if I am going to write a lot of code, I'd rather it be on my manipulator/camera tracking than on my drive code. that is, unless you pull a 148 and have crab and no manipulator (tumbleweed, 2008), which in that situation was nothing but epic...

for off season/fun, any swerve can be fun... or not fun... it depends on how you go about it.

Well, I see no problem with it because it's the off season. I am not constraint for time. Also, I still don't see how hard it can be. Just check each wheel if their velocity is within tolerance, if all the wheels are rotated with in the right tolerance and if they are not, make them.

PID loops are not hard. It is just all ratios, it just sounds hard. Sure, it is a lot of code, but it does not make it any harder. The hardest thing might just be incorporating a gyro scope, but that is not all that difficult unless there is a lot of inaccuracies in the readings.