pic: Small CIM in wheel swerve

[AdamHeard]

Originally Posted by GeeTwo

I strongly suspect than many teams program both holonomic and redundant (e.g. swerve) drive controllers like tank, and if so, then of course they're driven that way. By "like tank", I mean that the primary drive is either two-tread style or arcade style, with options like strafing, translating in odd directions, translating odd directions while rotating, and rotating around a fixed point being either special cases or left for the driver to figure out.

When 3946 did mecanum (Aerial Assist, not our best tactical call), we had all of the translation in a single joystick, and rotation on the left and right "triggers" of the xBox controller. This did encourage a bit of combination maneuver - you could move towards the ball or goal while simultaneously rotating. Even I was able to do both at the same time within a couple of minutes when I did a demo at my office department's spring picnic. I'd personally like to have done a joystick with a long (+/- 60 to 90 degrees) proportional twist axis, but I wasn't mentoring programming that year, and I understand that we didn't have any joysticks up to the task, in any event.

Does anyone have any insight on what 254 (or any other more "fluidly" driving team) uses to control their swerves or holonomic drives?

Their swerve code is in the block below.