Swerve improvements #84
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noahzemlin
requested changes
Apr 8, 2023
Comment on lines
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| if (left_front_speed > 1) { | ||
| right_front_speed = right_front_speed/left_front_speed; | ||
| left_back_speed = left_back_speed/left_front_speed; | ||
| right_back_speed = right_back_speed/left_front_speed; | ||
| } | ||
| if (left_back_speed > 1) { | ||
| left_front_speed = left_front_speed/left_back_speed; | ||
| right_front_speed = right_front_speed/left_back_speed; | ||
| right_back_speed = right_back_speed/left_back_speed; | ||
| } | ||
| if (right_front_speed > 1) { | ||
| left_front_speed = left_front_speed/right_front_speed; | ||
| left_back_speed = left_back_speed/right_front_speed; | ||
| right_back_speed = right_back_speed/right_front_speed; | ||
| } | ||
| if (right_back_speed > 1) { | ||
| left_front_speed = left_front_speed/right_back_speed; | ||
| left_back_speed = left_back_speed/right_back_speed; | ||
| right_front_speed= right_front_speed/right_back_speed; | ||
| } |
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Need to use abs() as the speeds can be negative
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| if (abs(drive_) > 0.05 || abs(strafe_) > 0.03 || abs(turn_) > 0.2) { | ||
| OKC_CALL(this->left_front_module_->SetAngle(left_front_turn)); | ||
| OKC_CALL(this->left_back_module_->SetAngle(left_back_turn)); | ||
| OKC_CALL(this->right_front_module_->SetAngle(right_front_turn)); | ||
| OKC_CALL(this->right_back_module_->SetAngle(right_back_turn)); | ||
| } | ||
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| if (abs(drive_) < 0.05 && abs(strafe_) < 0.05 && abs(turn_) < 0.3) { | ||
| if (abs(drive_) < 0.05 && abs(strafe_) < 0.03 && abs(turn_) < 0.2) { |
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| if (abs(drive_) < 0.05 && abs(strafe_) < 0.03 && abs(turn_) > 0.2) { | ||
| this->interface_->left_front_drive_motor_output = turn_ * 2; | ||
| this->interface_->left_back_drive_motor_output= turn_ * 2; | ||
| this->interface_->right_front_drive_motor_output = turn_ * 2; | ||
| this->interface_->right_back_drive_motor_output = turn_ * 2; | ||
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||
| } |
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Parameterize these and add a comment about what this check is for
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