Chief Delphi - MecanumDrive

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Micah Chetrit

23-02-2011 20:28

MecanumDrive_Cartesian rotate

I have just a tad left in autonomous that I couldn't test before we shipped the bot off and I was wondering if a positive Rotate in MecanumDrive_Cartesian (X,Y,Rotate) function is clockwise rotation or counterclockwise rotation.
Thanks in advance

AllenGregoryIV

23-02-2011 22:44

Re: MecanumDrive_Cartesian rotate

Code:

wheelSpeeds[MotorType.kFrontLeft_val] = xIn + yIn + rotation;

wheelSpeeds[MotorType.kFrontRight_val] = -xIn + yIn - rotation;

wheelSpeeds[MotorType.kRearLeft_val] = -xIn + yIn + rotation;

wheelSpeeds[MotorType.kRearRight_val] = xIn + yIn - rotation;

Positive should be clockwise. Left side will spin forward and right side will spin in reverse.

Micah Chetrit

24-02-2011 15:33

Re: MecanumDrive_Cartesian rotate

thanks

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