pic: Prototype Drivetrain

[apalrd]

Originally Posted by gyaniv

apalrd, trust me i know programing can be annoying...

yeah, I'm the programmer this year.

We didn't have to correct for drive while driving, or autonomous. Since we have a 6wd articulated center, we just removed pressure on the center wheel so it touched under its own weight and that essentially made it a 6 wheel flat, so it didn't really want to turn. We had P control on speed for both sides, so it didn't drift at all (it never went faster than 4 ft/sec in auto, but only 1.2 when doing the kick portion).

I worked on our four-wheel swerve last year. 4 drive and 4 swerve motors, all independent, plus the annoyances of regolith. I only wrote the steering code.