Drivers Control

[magnets]

Originally Posted by Ether

:-)

But you said the front wheels were linked so they have to be at the same angle (also the back). So the inner and outer wheels do not have the same turning radius. So did you use the inner or the outer wheels to determine the angle for the desired radius? Or maybe halfway between?

Yup, we did it halfway in between. This solution isn't perfect, as the wheels can't be at exactly the right angle. This caused some funky sliding issues before we wrote code to change the inner/outer wheel speeds. Our thought was that the simplicity that came from a linked swerve was worth this little inefficiency.