Originally Posted by JonA (Post 1002031)

More details of what BigJ is talking about can be found in this paper about the control strategy used by FRC Team 1675. Basically the output is limited based on the inverse kinematic calculations to allow for maximum speed output of the robot to be the same in all directions with overhead for the yaw rate to be added allowing the same yaw rate control regardless of the heading. These calculations result in the reduction of total overall maximum speed (not using the full range when traveling in the forward/reverse direction) in favor of overall normalization of speed and yaw rate. "Beast Mode" basically allows the driver to override this control decision.

Originally Posted by JonA (Post 1002031)

The considerations we have mistaken before include accidentally mounting the mecanum wheels in X and not O configuration and balancing and maintaining the weight/downward force on each of the wheels.

Originally Posted by pfreivald (Post 1002059)

No, the rollers should form an O either way.

Originally Posted by pfreivald (Post 1001397)

If I may ask, where did you mount your encoders on the p80?

Originally Posted by GearsOfFury (Post 1007666)

Peter - Last year, BaneBots sold a kit, EN-G0561-KT, that consisted of an optical digital encoder that could be mounted directly (glued) to the output shaft of the gearbox, with a neat plastic cover and mounting kit. It doesn't appear that they offer these any longer on their website, though. I believe they were US Digital encoders, though, so the BaneBots folks may still be able to help you locate some sets.

Originally Posted by Todd (Post 1002061)

I'm not looking at a holonomic robot right now, but I'm pretty sure that the rollers should form an O from below and an X from above.