Swerve VI based on the 2011 paper & excel by Ether

[jman4747]

Originally Posted by Ether

Are you still having this issue with your code, after making the sequencing changes that other posters have recommended?

If so, here are the intermediate values you should be getting. This may help you track down where the error is

Thank you for the numbers I was able to see the error was in the gyro correction of the joystick inputs. The gyro angle input is supposed to be in radians. I looked at the WPI holonomic VI and realized this. The sequencing changes (going to all wires) didn't change any output values which is why I was confused.

Also do formula nodes execute faster than the equivalent code on the block diagram?