| cstelter |
06-02-2015 13:09 |
Re: Mecanum drive cartesian problems
Quote:
Originally Posted by GeeTwo
(Post 1439256)
We got our Mecanum Drivetrain Code working in field coordinates in December; click for the code on github. This is based on cRIO, but shouldn't need too much tweaking. This is built on the command based robot model.
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Out of curiosity, why do you drive at 70% joystick readings in cartesian mode but full power in Polar mode?
Is there a purpose to Polar/Cartesian switch? Isn't calling cartesian with gyro-angle==0 equivalent to to calling Polar? Perhaps it is meant to switch between field-centric and robot-centric?
Not sure the CommandBase class will work in this year's lib so it may not just be load/go. Also, I think atan2 is on Math now, not MathUtils because we have proper java this year, so those are the obvious tweaks I see that will be necessary |
