/libswervedrive

ICR Based control for nonholonomic but omnidirectional robots (currently WIP port to C++).

Primary LanguagePythonMIT LicenseMIT

libswervedrive: The Drop Bears' Swerve Drive Control Library

Build Status Test Coverage

This repository implements the ICR based algorithm for nonholonomic but omnidirectional robots described the estimator component as described here (ICR estimator) and here (motion controller).