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Swerve Drive Robot

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This Demonstration simulates a robot with a swerve drivetrain [1, 2]. Given a combination of robot translations and rotations, the translation, rotation and output vectors for each of the four independent swerve modules are computed and displayed. You can determine the vectors for each module for desired translation and rotation of the robot.

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An output vector represents a velocity vector, in the direction that the module should point. The magnitude of the vector is proportional to the rotational speed of the module's wheel. The maximum output vector magnitude is and the minimum is 0, so the output vector is scaled to attain the desired range.

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Contributed by: Jatin Kohli (February 2020)
Open content licensed under CC BY-NC-SA

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References

[1] "Swerve Central." (Dec 31, 2019) team1640.com/wiki/index.php/Swerve_Central.

[2] Team 1072 - Harker Robotics. "First Robotics Competition, 2019." (Dec 31, 2019) frc-events.firstinspires.org/2019/team/1072.

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