Why is swerve so slow?

[Jefferson]

Originally Posted by ekapalka

Could you or someone else elaborate? I'm not entirely sure I understand how this works

We are in 4-wheel (Ackermann?) steering that is NOT field-centric by default. In that mode we maintain a lot of our momentum because the turns are very smooth. When the driver needs to make a quick maneuver, he pulls (and holds) the trigger on the joystick to enable crab that IS field-centric from the orientation of the robot when the trigger was pulled. The driver has the x and y motion on one joystick and a twist motion on the other. When the trigger is released, the driver is back in 4-wheel steering mode.

[asid61]

Originally Posted by Jefferson

We are in 4-wheel (Ackermann?) steering that is NOT field-centric by default. In that mode we maintain a lot of our momentum because the turns are very smooth. When the driver needs to make a quick maneuver, he pulls (and holds) the trigger on the joystick to enable crab that IS field-centric from the orientation of the robot when the trigger was pulled. The driver has the x and y motion on one joystick and a twist motion on the other. When the trigger is released, the driver is back in 4-wheel steering mode.

That is so weird. Man, that must take a lot of practice to get used to!

[Jefferson]

Originally Posted by asid61

That is so weird. Man, that must take a lot of practice to get used to!

JTN could comment better about the difficulty of learning it (I'm a pretty terrible driver), but it's probably not as difficult as you think. You just have to put yourself "inside" the robot. The tough part comes when you change orientation (twist) in crab. You have to keep up with where the "front" of the robot is/was.

Like most robots, it's not hard to learn the basics, but it takes hours and hours of practice to get good. There's no time to stop and think behind he glass.

[Meredith Novak]

Originally Posted by Jefferson

JTN could comment better about the difficulty of learning it (I'm a pretty terrible driver)

You killed that chair...

[Jefferson]

Originally Posted by Meredith Novak

You killed that chair...

But it was quite a spectacular killing!

If you're going to test controls changes, do it with confidence. Full throttle or go home!