Swerve path and motor trajectory generator?

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Swerve path and motor trajectory generator?

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22-05-2015, 21:07

EmileH

#dontbelarge

AKA: Emile Hamwey

FRC #1058 (The PVC Pirates) & SLFF (NE Way You Want It)

Team Role: Programmer

Join Date: Dec 2014

Rookie Year: 2011

Location: New England

Posts: 544

Re: Swerve path and motor trajectory generator?

I think you could benefit greatly from Ether's swerve kinematics and programming documents. Look for the excel spreadsheet. All you need to give is a Joystick Y(up/down), X(left/right strafe), Z (Rotation) and Gyro Angle and it visualizes the angle and speed of 4 swerve wheels.

There is also a paper on how to write these algorithms into the programming language of your choice.

Hope this helps.

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