Swerve Drive vs Mecanum Wheel drive?

[ekapalka]

Originally Posted by BBray_T1296

They work an unbelievably better when controlled by encoders and PID

I've heard that PID control begins acting unusually when you have a constantly moving setpoint because the tuning parameters were only set for one particular speed. Is that not so, or has your team found a way to work around this (such as a lookup table for different setpoints)? My team never really got around to putting encoders on our wheels, and as a result wound up tediously multiplying each wheel by a particular constant depending on its direction (because our motors have a 20-30% speed bias in a particular direction), which was a pain to figure out through trial and error.

Originally Posted by lopsided98

I don't have time to write up about it at the moment but I probably will during the offseason. For now, here is the code for it if anyone is interested in looking at or adapting it for their own use: https://github.com/RobotsByTheC/CMonster2014.

I've been tentatively skimming through this code for around half an hour and can't seem to find where the magic happens... I'm not particularly accustomed to the command based model :P Could someone point me in the right direction? Thanks!