So some members of our team has started getting interested in creating and experiencing with a swerve drive module. We want to get our mentor to approve it so we started doing some research, so far we designed a pretty solid concept, but I’ve wanted to ask some questions about the actual code for the Swerve module (because I’m more of the programmer guy).
So I know the math is kinda simple - calculating 2d motion vectors to calculate the angle the wheels have to turn at, but looking at some swerve teams’ codes I got kind of confused.
Generally speaking - why is it so hard to program a swerve module? I mean is it so much different than using regular motors and encoders? What does it even take to code a swerve drive?
I know this is written pretty dull and vague but I want the grasp of the general idea of it. thanks for your kind help in advance.