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Unread 13-04-2011, 13:47
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Re: The Hardest Drive System To Program:

Quote:
Originally Posted by Jimmy the Kidd View Post
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.
Several comments:

1) I thought you just said you were using omni wheels. Omni wheels aren't usually steered. Can you post a picture of your drivetrain?

2) I wouldn't suggest using the word "Ackermann" to describe what you stated. The whole idea of Ackermann is that the wheels are steered to different angles, not the same angle. The point of this is so that each wheel's axis will point to the center of rotation of the vehicle so that the wheels do not scrub.

3) Not sure I understand what you mean by "omnidrive, with each wheel receiving the same value from the joystick". Each wheel of an omnidirectional vehicle typically receives different commands, not the same commands.