Team 1658 inverse differential swerve quick test run

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Published on Dec 17, 2015

Just a quick video demonstrating the functionality of the inverse differential. There are two modes of operation. A "Direct/Normal" mode where all motors are driven with the same pwm value and direction, and a Differential mode where reference motors run at a desired reference speed and the opposite motors are varied in direction and speed for a desired output.

An additional feature of this coupled drive is the "brake" mode where we can lock our position and resist movement without having the motors needing to attempt to hold a position or resist another robot trying to move us.

Discuss over at:
http://www.chiefdelphi.com/forums/sho...

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