Chief Delphi - Inverting Axis

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Chief Delphi (http://www.chiefdelphi.com/forums/index.php)

- Java (http://www.chiefdelphi.com/forums/forumdisplay.php?f=184)

- - Inverting Axis (http://www.chiefdelphi.com/forums/showthread.php?t=133776)

Ether

02-02-2015 14:09

Re: Inverting Axis

Quote:

Originally Posted by GeeTwo (Post 1437326)

For an example where the simpler code is not easier to read:

Logically, you want to do a conditional:

if (c is between a and b, and you don't know whether a is larger or smaller than b) then...

Human simpler (use this!):

if ((a<b) && (b<c) || (a>b) && (b>c)) then..

Probably machine quicker, but don't use:

if ((a-b)*(b-c) > 0) then..

Either your code is wrong, or your prose description is.

I guess neither is simpler.

GeeTwo

02-02-2015 16:01

Re: Inverting Axis

I swapped b and c between the two. Let's correct the prose. I meant to say that b was between a and c, and you didn't know whether a or c were larger.

2386programming

03-02-2015 16:44

Re: Inverting Axis

Code:

 double strafe = mainStick.getRawAxis(3);

         double forward = mainStick.getRawAxis(1);

         double rotation = mainStick.getRawAxis(2);





//mecanum algotrithms

        double mFL = strafe + forward + rotation;

        double mFR = strafe + forward - rotation;

        double mRL = strafe - forward + rotation;

        double mRR = strafe - forward - rotation;



        FL.set(mFL);

        FR.set(mFR);

        RL.set(mRL);

        RR.set(mRR);

This is my code for regular driving for mecanum but I feel that if I inverted the motot not everything else would be the same.

Ether

03-02-2015 17:31

Re: Inverting Axis

Quote:

Originally Posted by 2386programming (Post 1437809)

Code:





        double mFL = strafe + forward + rotation;

        double mFR = strafe + forward - rotation;

        double mRL = strafe - forward + rotation;

        double mRR = strafe - forward - rotation;

This is my code for regular driving for mecanum but I feel that if I inverted the motor not everything else would be the same.

The correct inverse kinematics for mecanum is:

Code:





double mFL = forward - strafeRight  - rotateClockwise;

double mFR = forward + strafeRight  + rotateClockwise;

double mRL = forward - strafeRight  + rotateClockwise;

double mRR = forward + strafeRight  - rotateClockwise;

If the above doesn't work, it's better to do the necessary motor inverting/swapping to make it work, rather than changing the signs of the kinematics.

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