pic: FRC488's Octocanum Ver 2.0

[Ether]

Imagine a robot going around a circular track at constant speed such that it completes one lap every minute. The robot has a gyro mounted on it. The gyro rate will be 1 rpm, the same as if the robot were spinning in-place at 1 rpm.

I'll have to check the math, but I believe that with 3 followers mounted as shown, you can extract the vehicle's rotation rate (the same rate measure by a gyro) for any vehicle motion.

[AdamHeard]

Originally Posted by Ether

Imagine a robot going around a circular track at constant speed such that it completes one lap every minute. The robot has a gyro mounted on it. The gyro rate will be 1 rpm, the same as if the robot were spinning in-place at 1 rpm.

I'll have to check the math, but I believe that with 3 followers mounted as shown, you can extract the vehicle's rotation rate (the same rate measure by a gyro) for any vehicle motion.

Yes, but that's with 3 follower wheels. 488 only has two follower wheels measuring the floor, so I was clarifying as our swerve has two and there is no way we could infer rate from that (in fact we have to factor in the gyro rotation rate to even to get an accurate linear velocity).

EDIT: 488 actually has three follower wheels in that diagram, I was mistaken. Trivial calculation in that case.