Swerve Gear Box

[Cuog]

Originally Posted by AdamHeard

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".

Perhaps I'm just silly, but I think this debate could use some citations. I'm now thoroughly confused on the subject.