Quote:
Originally Posted by Ether
I'm trying to understand what you mean by "Ackerman" in the context of an omniwheel vehicle.
Ackermann is a very specific type of front-wheel steering, used by automobiles, in which the vehicle turns around a point lying on the line which is colinear with the axles of the rear wheels.
Since an omni-wheel vehicle is holonomic, you certainly could mimic this behavior, but why would you want to? An omni-wheel vehicle can be given a "car-like" driver interface simple by disabling the strafe command - and using only rotate and fwd/rev commands.
|
What we ended up trying to accomplish was a, I guess you'd say, mirrored Ackermann. AKA, the front wheels would turn 45 degrees to the left, and the back wheels would turn 45 degrees to the right. Then, when triggered, the drive sticks would toggle over to omnidrive, with each wheel receiving the same value from the joystick.