We built a 6-CIM Kiwi Drive. Criticisms please!

[Ether]

Originally Posted by Nate Laverdure

Happy to provide more data upon request.

OK, three questions:

1) what was your driver interface? e.g. did you just give the driver direct access to the 3 degrees of freedom (fwd/rev, strafe R/L, rotate), or did you put a layer on top of that to abstract it to a more intuitive level? one mode or several? etc

2) Did you derive the inverse kinematics from first principles, or did you refer to available papers on this topic?

3) Why was field-centric problematic? Were you having gyro drift problems, or did you encounter difficulties with the programming?