pic: FRC973 Presents Emperor Swerve

[Ether]

Question for those teams who have incorporated wheel speed reversal (for better steering response) into their swerve control software: what inputs and thresholds did you use?

For example, what steering angle threshold did you use to enable wheelSpeed reversal? 90 degrees, or something greater? (and was this determined empirically or by analysis). And, did you factor the wheelSpeed process variable into that decision? (i.e the angle threshold varies with the wheel speed).

Also, did you look at what the other wheels are doing, was each wheel controlled independently?