{"id":222,"date":"2009-03-09T22:50:59","date_gmt":"2009-03-10T03:50:59","guid":{"rendered":"http:\/\/www.virtualroadside.com\/blog\/?p=222"},"modified":"2009-03-13T18:47:23","modified_gmt":"2009-03-13T23:47:23","slug":"swerve-drive-model-spreadsheet","status":"publish","type":"post","link":"https:\/\/www.virtualroadside.com\/blog\/index.php\/2009\/03\/09\/swerve-drive-model-spreadsheet\/","title":{"rendered":"Swerve Drive Model Spreadsheet"},"content":{"rendered":"<p>Our robot this year uses a &#8216;swerve drive&#8217; mechanism, with 4 independently steerable wheels. I wasn&#8217;t quite sure exactly of the best way to describe the robot&#8217;s motion in terms of basic parameters (speed, heading, rotation) , so I went google searching. I found a PPT by <a href=\"http:\/\/http:\/\/www.firstroboticscanada.org\/site\/files\/workshops\/omnidirectional.pdf\">Ian Mackenzie<\/a> talking about different types of omnidirectional drive systems, and it was extremely helpful.<\/p>\n<p>After thinking about it some more,\u00a0 I created this spreadsheet to help describe the motion parameters to the students I was working with. Its pretty sweet &#8212; it uses scatter plots to show the angle of each wheel and the ideal velocity to obtain the motion desired based on the speed\/rotation\/angle parameters of the overall robot motion. The implementation in C++ was straightforward after that, and it worked out extremely well (unfortunately there is the whole issue of controlling it intuitively with a joystick&#8230; we haven&#8217;t quite got that down yet).<\/p>\n<p>Download it at my <a href=\"http:\/\/www.virtualroadside.com\/FRC\/#swerve_drive\">FRC resources download page<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Our robot this year uses a &#8216;swerve drive&#8217; mechanism, with 4 independently steerable wheels. I wasn&#8217;t quite sure exactly of the best way to describe the robot&#8217;s motion in terms of basic parameters (speed, heading, rotation) , so I went google searching. I found a PPT by Ian Mackenzie talking about different types of omnidirectional [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[41],"tags":[],"_links":{"self":[{"href":"https:\/\/www.virtualroadside.com\/blog\/index.php\/wp-json\/wp\/v2\/posts\/222"}],"collection":[{"href":"https:\/\/www.virtualroadside.com\/blog\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.virtualroadside.com\/blog\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.virtualroadside.com\/blog\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.virtualroadside.com\/blog\/index.php\/wp-json\/wp\/v2\/comments?post=222"}],"version-history":[{"count":3,"href":"https:\/\/www.virtualroadside.com\/blog\/index.php\/wp-json\/wp\/v2\/posts\/222\/revisions"}],"predecessor-version":[{"id":230,"href":"https:\/\/www.virtualroadside.com\/blog\/index.php\/wp-json\/wp\/v2\/posts\/222\/revisions\/230"}],"wp:attachment":[{"href":"https:\/\/www.virtualroadside.com\/blog\/index.php\/wp-json\/wp\/v2\/media?parent=222"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.virtualroadside.com\/blog\/index.php\/wp-json\/wp\/v2\/categories?post=222"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.virtualroadside.com\/blog\/index.php\/wp-json\/wp\/v2\/tags?post=222"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}