First Movements
Tested full motion for the first time woohoo! 🎉🎊

Things surprisingly worked alright, the kinematics for the rotation while strafing is still a bit off but translation by itself works great. Also the wheels have very little traction so I’ll have to increase that somehow.

Additionally, field centric control on the joystick works really well, so up on the joystick means up in real life relative to the start heading and regardless of the rotation of the robot.

Things Left to Do on Hardware

• Add traction to the wheels

Things Left to Do on Software

• Fix swerve kinematics for rotation