paper: 159 Mecanum Documentation

[E Dawg]

Thread created automatically to discuss a document in CD-Media.

159 Mecanum Documentation (http://www.chiefdelphi.com/media/papers/3155?) by E Dawg

[E Dawg]

Some documentation explaining Team 159's custom mecanum code. The drive code is field-centric (robot-orientation doesn't matter), and has four CANTalons controlled with PID. We've also implemented a scalar property to increase efficiency when moving forwards and backwards relative to the bot.