Class SimSwerveDrivetrain


public class SimSwerveDrivetrain
extends Object
Extremely simplified swerve drive simulation class.

This class assumes that the swerve drive is perfect, meaning that there is no scrub and the wheels do not slip.

In addition, it assumes the inertia of the robot is governed only by the inertia of the steer module and the individual drive wheels. Robot-wide inertia is not accounted for, and neither is translational vs rotational inertia of the robot.

These assumptions provide a simplified example that can demonstrate the behavior of a swerve drive in simulation. Users are encouraged to expand this model for their own use.