Crab-drive steering modes?

[AustinSchuh]

Originally Posted by gorrilla

how is the encoder mounted to the sprocket?

I don't know how 1625 does it, but 971 has always turned down the end of the axle with the sprocket on it to about 1/8th inch diameter, and fitted a piece of rubber tube over the new reduced diameter end of the shaft and the encoder shaft. You don't have to worry about it being slightly misaligned that way. That's how we connected the encoders on this year's bot to the CIMs and the ground speed follower wheels.

If, and hopefully when since we are trying to build a swerve too this summer, we try to control a swerve, I was thinking that the best way would be to slap encoders on everything and program it to drive with a joystick to specify the direction vector relative to either the front of the robot or down field, and a steering wheel to specify the turn rate. We would then need to work out the math to angle the modules accordingly and set their speeds so the robot follows these instructions. Of course, this will be a great excuse to learn as much as possible from our Controls mentor and potentially have completely closed loop control.