https://github.com/pantherbotics/swervesim
FRC Team 3863's Swerve Drive Simulation Code (testing vector odometry)
https://github.com/pantherbotics/swervesim
Last synced: 3 months ago
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FRC Team 3863's Swerve Drive Simulation Code (testing vector odometry)
- Host: GitHub
- URL: https://github.com/pantherbotics/swervesim
- Owner: Pantherbotics
- Created: 2022-05-07T18:15:02.000Z (about 3 years ago)
- Default Branch: master
- Last Pushed: 2022-05-08T19:51:45.000Z (about 3 years ago)
- Last Synced: 2025-01-02T07:26:44.054Z (5 months ago)
- Language: Java
- Homepage:
- Size: 24.4 KB
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
# SwerveSim
This was a test to see if a vector based field-oriented swerve could calculate its odometry using the 4 wheel vectors.
It was a success and was turned into a fun demo as an executable jar file (run install under the maven project).
Vectors aren't realistic to those on the robot and are idealized, but the position odometry functions correctly. The simulation does not simulate the robot rotation, therefore the odometry for rotation is not taken into account, although position should still be accurate.