Thread: Mecanum and Gear Ratios
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Unread 17-02-2011, 11:42
omalleyj omalleyj is offline
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Re: Mecanum and Gear Ratios
Quote:
Originally Posted by HarryScheiner View Post
We have a slight problem... we are using mecanum wheels this year, and there is a different gear ratio for the front set of wheels than for the back set. The front set are 4.67:1 and the back set are 12.75:1. We are using the mecanumDrive_Cartesian() method (Java w/netbeans). How can we modify the speed of the front wheels easily?
I completely agree with the above that this is a HW problem and should be addressed that way ASAP. If you must adjust in SW you can scale the motor values in the wpilibj method rather than creating your own drive routine. Keep in mind not to let values get above/below 1.0/-1.0 and that any changes will be overwritten by updates. But if you keep those in mind it is probably easiest as it just requires multiplying by constants in one spot.
Let me know if you need details, I don't have the wpilib src with me but can post something tonight.

Good luck!
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