Swerve Drive Software Design. Software Layers. Joystick Axis Correction. Joystick Response Calculation. Motor/Wheel Orientation Adjustments. Field-oriented Angle Adjustment . Swerve Drive Steer Angle / Drive Speed Calculation. Drive Motor PID Controllers. Steer Motor PID Controllers.
Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.
Joystick Axis Correction
Joystick Response Calculation
Motor/Wheel Orientation Adjustments
Field-oriented Angle Adjustment
Swerve Drive Steer Angle / Drive Speed Calculation
Drive Motor PID
Steer Motor PID
Motor/Wheel Orientation Settings
Joystick Response Tuning
Steering Angle Sensor Offsets
X/Y -> .4x^3+.6x
Rot -> .7 * (.4x^3+.6x)