I created a couple programs on Khan Academy’s Processing Java Script editor that function as 2 dimensional swerve simulations (mostly because I was bored). I thought I’d post the links here in case anyone is interested in learning from them. I used the Ether’s swerve kinematics in both of my programs to determine the speed and angle of each of the pods
The first program I made is a static display, the user inputs X, Y, and R (rotation) commands, and can instantly view the angle and speed of each of swerve pods. It functions basically the same way that Ether’s spreadsheet does. However, on my program you can use the arrow keys as inputs, and I humbly claim that mine is much more colorful
Then I made another program (the one depicted in the video) that allows the user to drive the swerve around the screen. Personally I found it very interesting to see how each of the pods interact with each other as the swerve spins while moving. Our team has used swerve for the past two years, but I’ve never been able to actually see how the pods interact when the robot is spinning while moving until I made this simulation.
I’m considering making some sort of interactive game out of this to let people compare the agility of a swerve to a basic tank drive. But it’ll depend on if I can figure out the collisions.