potential future white paper: swerve drive implementation

[PAR_WIG1350]

Originally Posted by Gdeaver

Team 1640 did swerve for the first time this year. As part of our off season design project several papers were developed. Mostly the math. You may want to look at them.
This is the first paper after the summer work.
http://wiki.team1640.com/images/8/85...heel_Drive.pdf
This is a paper commenting on the summer project.
http://wiki.team1640.com/images/6/60...rive_Robot.pdf
This is the final paper commenting on crab with orientation control. Mode1 in the paper was implemented on the 2010 robot. Mode 2 is tough because it requires tracking states and would require some feed forward algorithms.
http://wiki.team1640.com/images/3/3a...Twist_edit.pdf
Browse our website for the mechanical implementation.
Comments and comparisons to your work are welcome.

The graphs in the second paper resemble graphs generated with by algorithms, which is comforting, but they are not the same algorithm. The technique you use focuses on achieving goals that with my technique are simply after thoughts that a good driver could still probably approximately mimic. My algorithms focus more on a maneuver that is not present in your calculations, but you do include a replacement for this maneuver.

I also was considering some form of drifting 'snake' maneuver, similar to our '09 bot, but I decided Against it for the experiment I'm running <although the Algorithm that the paper will describe can be used to figure out how to do this, and the calculations have been run, I just don't think that I will use them.>

One advantage I see with your algorithm is simpler math, that is, not necessarily lower level, just less of it.