Programming Swerve Drive with Labview

We are having difficulty programming our new swerve drive. We’re not sure how to direct the motor with the encoders

I would suggest googling for c++ swerve code and using that as a basis for your LabView code. The math will be the same.

I’d also suggest that in the future you limit experimentation with new drivetrain systems to the off season. It’s a pretty hard thing to perfect during the build season.

Here is a fairly extensive analysis of swerve kinematics: https://www.chiefdelphi.com/media/papers/2426

We used this code a few years ago, compared it to the Ether white paper, wrote a simulator, and it was both easy to use and accurate.

http://team1640.com/wiki/index.php?title=Swerve_Central#Ocelot_Drive

Greg McKaskle