https://github.com/stuypulse/swiveldrive

Swerve drive programmed with new kinematics
https://github.com/stuypulse/swiveldrive

Last synced: 3 months ago
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Swerve drive programmed with new kinematics

• Host: GitHub
• URL: https://github.com/stuypulse/swiveldrive
• Owner: StuyPulse
• License: mit
• Created: 2022-08-28T01:32:29.000Z (almost 3 years ago)
• Default Branch: main
• Last Pushed: 2022-08-31T18:40:20.000Z (almost 3 years ago)
• Last Synced: 2025-01-16T13:59:11.489Z (5 months ago)
• Language: Java
• Size: 75.2 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# SwivelDrive

attempt at new kinematics for swerve that enable straight line spin maneuvers without corrections

## Notes

Approach: 

 * use a `Pose2d` to represent the position of the swerve 

 * use a `Translation2d[]` to represent the velocity vector of each module

 * calculate the position of a module by adding its offset, rotated by the pose heading, to the pose translation

 * calculate its position after the `ChassisSpeed` is applied to the module (e.g. apply the rotation and translation to the point)

 * calculate a velocity vector from initial module position and the calculated final position

 * calculate an acceleration vector from the provided velocity for that module and the calculated velocity vector

 * store calculated velocity vector and acceleration in a `SwivelModuleState`

 * return `SwivelModuleState[]`

 

Similar Alternative Approach:

 * calculate the final pose FIRST by applying a `Twist2d`, generated from a `ChassisSpeed * period`

 * calculate the modules relative to the start pose and relative to the final pose

 * calculate the velocity and acceleration vectors in the same way as above the initial and final module positions

 

Problems:

 * this covers inverse kinematics? but how to go forward

 * what is the proper way to do odometry with this method?

 

Better method:

 * direct formula that covers acceleration

 * easier to do forward kinematics because algebra can be applied to the formula

 * [Notes_5_CurvilinearMotion.pdf](https://github.com/StuyPulse/SwivelDrive/files/9464070/Notes_5_CurvilinearMotion.pdf)