Programming swerve drive in Labview?

[Gdeaver]

Ether has done the modeling. The problem with true "fully functional (i.e. simultaneous translate and rotate)" As far as we have found is that it would require an algorithm that keeps a short history of previous wheel position and a calculated future set of wheel positions. Not an easy programming task in any language. We have not done this yet. Our 2012 bot drives quite well with out going down this path. For a first year swerve effort, you may want to leave this off the plate.

[jcbc]

I have posted Team 1640's 2011 "Pivot Drive" (swerve) code here:

http://www.chiefdelphi.com/media/papers/2704

Thanks to the team's 2011 head programmer, Ben Rajcan, it is nicely packaged as a LabVIEW library. I hope that it will be useful to teams who want to try out programming a swerve drive.