I added more dimensions to the now ControlVector with the hope that this will allow us to fluidly control more of our robot's behavior with our blending technique. Keep in mind that our "tvalues" or "influence vectors" will also have all of these components. Controls now encoded in this vector include:
SwerveVectortoControlVectorControlVectorwith the hope that this will allow us to fluidly control more of our robot's behavior with our blending technique. Keep in mind that our "tvalues" or "influence vectors" will also have all of these components. Controls now encoded in this vector include: