Quote:
Originally Posted by JonA
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. |
As Ether noted this year the math in the provided holonomic drive VI's corrects for this already and no optimizations are required to achieve optimal drive output, though this was an issue last year.
Quote:
Originally Posted by JonA
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.
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This is something that we had trouble with the first time we used holonomic wheels also. Be careful that viewed from below your robot the rollers on your wheels form an O and not an X.