Swerve Drive Skewing When Rotating And Translating - HHS-Team670/MustangLib GitHub Wiki

Swerve Drive Skewing When Rotating and Translating

Authors: Armaan, Aditi

Date: 7/7/23

Status

  • IN PROGRESS

Symptoms

  • The robot goes off course when rotating and translating. Especially noticable during auton
  • Auton kids dying
    • Justin Dying

Note: If you see this error after 2023 Summer, we have failed, we are sorry.

Solutions:

Solution 1: Simply don't rotate during auton

  • Instead of rotating to pick up gamepieces or score game pieces add states or other ways to pick up items without turning

Solution 2: Make the turn over a short distance

  • By turning in a shorter distance, there amount of skew is decreased

Solution 3: Minimal Turning

  • Instead of doing a 180 to pick something up, over shoot the piece and loop back to pick it up

Permanent Solutions

Solution 1 (Possible, but Improbable): Improving Vision to Offset Failure

  • Make vision fix this or implement fancy automatic correction

Failed Solutions:

  • Stealing Team 95s swerve code
  • Looking forward a control loop
  • Yet Another Generic Swerve Library (YAGSL)
    • They made negligible improvements to fixing skew

Resources