Thread: MecanumDrive_Cartesian rotate
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Unread 23-02-2011, 22:44
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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.
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