Math and Programming Behind Swerve

[jcbc]

In case you hadn't found this yet, see this post for our 2011 drive code (in LabVIEW library form): http://www.chiefdelphi.com/media/papers/2704

We are putting the finishing touches on releasing our competition season code, which includes the drive code. I'll be posting the link to the GitHub repository as well as a zip file (if it isn't too large), hopefully before we leave for IRI.

[brennonbrimhall]

I believe that Ether has posted a whitepaper that goes through the math and pseudocode for a true swerve drive. It's sounding that that's really what you want.

I greatly appreciate your answer in the other one and i'll take it down now to prevent confusion

Would you mind re-posting the answer, for posterity's sake? If it's a greatly appreciated answer, chances are that someone else would also be able to greatly appreciate it.

[Foster]

1640s swerve repository is here http://wiki.team1640.com/index.php?title=Swerve_Central

Go for it.

[Ether]

Originally Posted by brennonbrimhall

I believe that Ether has posted a whitepaper that goes through the math and pseudocode for a true swerve drive. It's sounding that that's really what you want.

Here are links to the documents:

Derivation of the equations:
http://www.chiefdelphi.com/media/papers/download/3027

How to use the equations:
http://www.chiefdelphi.com/media/papers/download/3028

Excel spreadsheet swerve calculator:
http://www.chiefdelphi.com/media/papers/download/3104

Miscellaneous additional documents:
http://www.chiefdelphi.com/media/papers/2426