Swerve Drive Control - Chief Delphi

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Swerve Drive Control

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#14

02-04-2014, 13:00

cjl2625

apel py

AKA: Cory Lynch

FRC #2067 (Apple Pi)

Team Role: Programmer

Join Date: Jan 2013

Rookie Year: 2013

Location: Guilford, CT

Posts: 412

Re: Swerve Drive Control

Why not spend the time on field centric?
I would think that a robot centric swerve drive would be much harder to control.

In our (LabVIEW) code, it only took a few blocks to make it field centric. I stole the rotate vector block from the default holonomic drive code, used it to rotate the translational vector by the gyro reading, and that's about it.
Well, I don't know about C++, though

Last edited by cjl2625 : 02-04-2014 at 13:02.

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