Swerve Gear Box

[AdamHeard]

Originally Posted by PAR_WIG1350

That would not be unicorn drive. You can also control center of rotation in a unicorn drive which adds 2 more variables. These would be the two that you would preset to make driving easier, otherwise, in the most intuitive drive interfaces, center of rotation would be controlled by a second joystick, alternatively, you could use polar coordinates and one joystick. In this setup the x and y axes give you translation angle and velocity while the z-rotational (twist) axis controls turning radius and the z-axis (throttle) controls the front to back variation of the center of rotation.

I think you're a bit off here, the center of rotation is an arbitrary point the robot is instantaneously rotating around based on the combination of translation and rotation inputs. The code takes the translation and rotation inputs and figures out what arbitrary arc the robot is driving upon at that second, and then finds the resultant wheel angles and speeds to travel along that arc. No matter what, the vehicle is driving along some arc instantaneously, and it's defined by three things, not five (it would be overdefined).

this is incredibly intuitive; move that way that fast, and spin this way this fast. I don't understand how this isn't "unicorn drive".