2015 FRC prototype two speed swerve drive first run

[sanelss]

Originally Posted by philso

You may want to video using a high-frame rate camera. It looks like one of the modules points in a different direction from some of the others after what looks like a change in direction. I don't know if this is intentional or if it is related to the gears that came loose.

we don't need a high speed camera for that. you are indeed correct. as i stated at the start this is with just a few hours of coding and just barely enough code to make it move. it's just due to very un-tuned parameters and can be fixed up when i have a bit more time to put into it.