Team 2471 swerve drives

[Ether]

Originally Posted by Bryce2471

First, the left analog stick input gives an X-Y heading. That vector is directly applied to each wheel. This gives us our translation or strafing ability.

Next, the X component of the right analog input gives a turning value. This value is set as the length of a vector on each wheel for orienting the robot. The angle of this vector is defined as being perpendicular to a line between the wheel and the the center of robot rotation.

Then, one problem is that each wheel has two vectors that it is supposed to accomplish. The solution is simple: you just add the two vectors together. This presents a second problem. If you try to turn at full power and drive at full power at the same time, each wheel will try to drive at >100% power. This is solved by dividing each wheel's power by the power of the highest power wheel if that is greater than 100%.

Very clear explanation. Did you guys use resources on CD (papers, posts, etc) as a starting point, or did you work from first principles to figure out the physics and math?