potential future white paper: swerve drive implementation

[Nadav Zingerman]

Originally Posted by PAR_WIG1350

Yes, but not really, for people who breeze through vector calculus like it was nothing, swerve drive is nothing (and this is swerve drive, not crab which is really easy to program), but some teams don't have any team members with higher level math skills. The idea of this paper is to provide an out of the box formula for any swerve drive base regardless of size, shape, or number of wheels. Also, it doesn't involve any calculus at all. in addition, mechanical and electrical implementation of swerve will also be discussed. Currently the paper is not very much more than a plan, but the idea of using tables and arrays for swerve drive is one of the planned topics of discussion, although how to do it is not.

There is no calculus involved in that spreadsheet. If anyone really want to use an "out of the box" formula without really understanding it, all they have to do is translate the Excel formulas into code.