Quote:
Originally Posted by WizenedEE
What are you planning to do with the front? Why don't you just make everything symmetric?
Also, you should be able to get the same amount of force in any direction. PM me if you need any help with coding, I managed to get mine to be field relative with a gyroscope so I can give you some programs.
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The front was planned only until a gyro or compass could acquired. I'd still like to look at those programs, though - what language are they in?
Quote:
Originally Posted by MentorOfSteel
This is just a bit off topic, but you've touched on a pet peeve of mine. I have noticed that many people in the FRC community (and many people working in the field of robotics in general) use the word "holonomic" interchangeably with the word "omnidirectional". This usage is incorrect, and I would like to take this opportunity to explain why.
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I didn't know that - thanks.
Quote:
Originally Posted by Ether
That should work fine. If you're interested, here's a graphic showing the inverse kinematics for the three-omniwheel vehicle you described. Scroll to the bottom and grab file "Kiwi Omniwheel Inverse Kinematics"
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Thanks for the document. I'd done something similar when figuring out the programming, nice to see it laid out that way.
(We've hit a slight roadblock - RobotC license expired. Purchasing the new one soon, hopefully will be back on track ...
)
I do have one question on scaling. If the equations used are (ignoring rotation for now, and with joyX1 being the X axis of the first joystick, and so on)
W1 = joyX1
W2 = (- joyX1 / 2) + sqrt(3) joyY1 / 2
W3 = (- joyX1 / 2) - sqrt(3) joyY1 /2
And the joysticks give a value between -157 and +156, and the motors take a power command of between -100 and 100, I'd divide the results of those equations by 157 and multiply by 100, right?
Then, to add rotation, it would be added to each equation before the scaling, and I'd have to check for out-of-rangeness, and correct it if it was. Would I do that before or after the scaling to correct it? I don't think it would matter, but just in case it does.