We mounted mecanum wheels on our bot with 4 nanos and with heavy modification.

Re: Mecanum on kop chassis
 

This is the plan for our robot, mounting the TB Nano's on the AM14U2 with a modified width and length to make sure the mecanum wheels are located in the required square pattern, 90 degrees from each other. Using the closest holes in the chassis is giving us a pretty small drive base, but with some counter weights, should be okay.

This will be our first endeavor with mecanum wheels, so we're hoping this works out for us.

Re: Mecanum on kop chassis
 

Why do you say square is required?

Re: Mecanum on kop chassis
 

If not square what code adjustments would need to be made?

Re: Mecanum on kop chassis
 

It depends on your driver interface.

If you are giving the driver control of Y,X,and rotate, then no code adjustments would be necessary.

If you have pre-programmed routines in the driver interface (or in autonomous) which depend on commanding specific rotation rates relative to translation commands, then you should scale the rotate command (in radians per second) by a factor K=(wheelbase+trackwidth)/2 as shown on page7 of this document or page19 of this one.

Can you use a toughbox mini's to use mecanum wheels on the KOP chassis?

Re: Mecanum on kop chassis
 

Yes, my team is able to do direct drive to the mecanum wheels. But, it involves using a second chassis ontop of the first one. Or, mounting braces that extend from the top of the base.

Re: Mecanum on kop chassis
 

We've not yet tried a "mecanum" drive, but I have read that the wheels should be mounted such that the rollers form an "X" when viewed from the top or bottom. Am I misinterpreting this CAD drawing?

Re: Mecanum on kop chassis
 

Maybe it's a bottom view?

Re: Mecanum on kop chassis
 

I believe that even looking up at that, it's not going to make an "X".

Re: Mecanum on kop chassis
 

If it makes an "O" when viewed from the bottom, it will make an "X" when viewed from the top.

http://www.chiefdelphi.com/forums/sh...3&postcount=28

Re: Mecanum on kop chassis
 

LOL. Now, I'm embarrassed. Of course, Ether, you are correct. Never having handled one of these mecanum wheels, I had to perform a more detailed mental exercise to visualize the roller angles properly. Note to self: The roller angle forms an "X", only when viewed from the top. Thanks!

Re: Mecanum on kop chassis
 

OK, I admitted to not knowing my "X"s and "O"s. :) But, going back to the original CAD rendering, that does appear to be a 2015 KOP drive base looking down from the top.

Nope

Re: Mecanum on kop chassis
 

Andy Mark just released this 6" Mecanum upgrade kit for the AM14U2. IMHO, the 6.7:1 gearbox ratio is too low for this years game.

http://www.andymark.com/product-p/am-14u2-Mk6.htm