Chief Delphi - Mech Wheel Programing

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Mech Wheel Programing

This year we would like to try mech drive with 1 joystick. this joystick has x,y and z(twist) on the stick and t for speed.
i have no clue how to do mech programing and would really like some help with it .
we would like strafe with the x axis and turn with the z axis.
also we would like speed control with the t axis
how would we go about doing this in easyc?

Re: Mech Wheel Programing

Quote:

Originally Posted by whlspacedude (Post 676154)

While it's not easyC, check here: http://www.chiefdelphi.com/forums/sh...m+drive+co de

The basic idea for either an omnidirection or mechanum drive train, each wheel will have a certain speed that it needs to be driven to contribute to the desired combination of f/b motion, strafing, and turning. You calculate these for each wheel, and sum them up.

Code:

fr_pwm = speed-turn+strafe;

fl_pwm = speed+turn-strafe;

br_pwm = speed-turn-strafe;

bl_pwm = speed+turn+strafe;

You may have to reverse some of these due to how your motors are installed, and you would be best to do a lot of bounds checking and be careful with variable types to make sure you don't have wraparound errrors.

Re: Mech Wheel Programing

Re: Mech Wheel Programing

Being new to "real' C programing (have a knowledge of BASIC) I really would like to have a .ecp file to look at. thanks for the other links!

Re: Mech Wheel Programing

Quote:

Originally Posted by whlspacedude (Post 677718)

Being new to "real' C programing (have a knowledge of BASIC) I really would like to have a .ecp file to look at. thanks for the other links!

http://www.chiefdelphi.com/forums/sh...ad.php?t=51704 should take care of this.

Good luck.

Re: Mech Wheel Programing

THANKS!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!