Swerve vs. Mecanum Programming

[kgzak]

Originally Posted by Ether

The algorithms in both links allow all 3 degrees of freedom: forward/reverse, stafe left/right, and rotate clockwise/counterclockwise.



The 3-axis joystick algorithm can be made field-oriented simply by doing a coordinate axis rotation of the X,Y joystick values before feeding them to the algorithm.

x' = xcos(theta) - ysin(theta)

y' = xsin(theta) + ycos(theta)

... but Buchanan's approach is technically more correct and will yield more optimal control (more accurate directional control, smoother operation, and less scrubbing of the wheels)


~

Thanks. That'll help. I think I have it figured out. Now if only our coach will do off season stuff