Summary
The whole point of swerve is to use field oriented driving, so we should do that
This should be as simple as rotating the wheels based on the robot's current heading from the navX. However, it may get a little tricky given the idea that we shouldn't rotate our wheels more than 90 degrees. Ultimately, we want to apply the driver command in the field's reference frame rather than relative to the robot
Work to do
Make field oriented driving possible
make field oriented drive the default mode of driving in teleop
allow robot relative driving if the driver switches drive modes
Summary The whole point of swerve is to use field oriented driving, so we should do that
This should be as simple as rotating the wheels based on the robot's current heading from the navX. However, it may get a little tricky given the idea that we shouldn't rotate our wheels more than 90 degrees. Ultimately, we want to apply the driver command in the field's reference frame rather than relative to the robot
Work to do