Quote:
Originally Posted by lineskier
programming a mec via trig is a lot easier than doing it without it,
|
FR = -Y - X -Z
FL = -Y +X +Z
RR = -Y +X -Z
RL = -Y -X +Z
How does trig make the above any easier ?
Quote:
|
for scaling reasons i'd leave out rotation at first.
|
Scaling is straightforward. Find the max absolute value of the 4 wheel speed commands above. If that max value exceeds the max command you want to send, then divide all 4 wheelspeeds by it.