Chief Delphi - Mecanum Spin

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- - Mecanum Spin (http://www.chiefdelphi.com/forums/showthread.php?t=83848)

Hey, I'm currently trying to figure out how to change the magnitude of the holonomic drive system. I tried the obvious approach (Changing the first float) however, with out current code, nothing seemed to change at all. Could someone look it over and tell me what they think? We basically want the spin of the robot to be dependent on the value returned by the joystick throttle:

Code:

//Stop Button

                if(!joyStick->GetRawButton(3))

                {

                        //Turn left

                        if(joyStick->GetRawButton(4))

                                joanRobo->HolonomicDrive(joyStick->GetThrottle(), 0.0, -180.0);

                        

                        //Turn right

                        else if (joyStick->GetRawButton(5))

                                joanRobo->HolonomicDrive(joyStick->GetThrottle(), 0.0, 180.0);

                        

                        //Regular holonomic movement

                        else

                                joanRobo->HolonomicDrive(joyStick->GetMagnitude(), joyStick->GetDirectionDegrees(), 0.0);

                }

                else

                        //Stop all movement

                        joanRobo->HolonomicDrive(0.0, 0.0, 0.0);

Re: Mecanum Spin

Quote:

Originally Posted by Bart (Post 931207)

I am not sure which part of your code you said not working. Mecanum drive requires 3 joystick axes. According to your code, you are using one joystick. If that's the case, make sure your joystick has 3 axes. Since you are using the GetMagnitude(), it is computing the magnitude by doing sqrt(x*x + y*y), and the direction is computed by atan2(x, -y). So you should make sure that the Y axis of your joystick is controlling the forward/backward movement, the X axis is controlling your sideway movement. Then for the turn, make sure you are using the correct joystick axis for it. At first, we were reading the twist axis for the turn, but it was wrong. This is because our Microsoft Side Winder joystick maps twist to the Z-axis, not twist or throttle. So make sure you reads the correct axis.

Re: Mecanum Spin

Well we're using the standard kop joystick, and our controller is indeed moving the robot properly, what we attempted doing is have it spin using to of the top buttons, and regulate the speed of the spin using the throttle on the joystick.

Re: Mecanum Spin

If you want to regulate the spin by the throttle, you should probably doing something like this:

Code:

if (joyStick->GetRawButton(4))

    joanRobo->HolonomicDrive(0.0, 0.0, -joyStick->GetThrottle());

//Turn right

else if (joyStick->GetRawButton(5))

    joanRobo->HolonomicDrive(0.0, 0.0, joyStick->GetThrottle());

//Regular holonomic movement

else

    joanRobo->HolonomicDrive(joyStick->GetMagnitude(), joyStick->GetDirectionDegrees(), 0.0);