22-05-2011, 22:13
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Registered User
 FRC #1747 Team Role: Mentor
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Join Date: Jan 2010
Rookie Year: 2008
Location: Piscataway, NJ
Posts: 243
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Re: apply the inverse kinematic tranformation?
Quote:
Originally Posted by Ether
You don't need to understand the derivation of the inverse kinematic equations in order to use them, any more than you have to be able to derive the Pythagorean Theorem or the Law of Cosines in order to use them.
The inverse kinematic equations are very simple:
FR = FWD - STR - ROT
FL = FWD + STR + ROT
RR = FWD + STR - ROT
RL = FWD - STR + ROT
... where FWD, STR, and ROT are the vehicle forward, strafe right, and rotate clockwise commands, respectively. These equations map your desired vehicle motion into a set of 4 wheel speeds required to achieve that motion.
You can setup your driver interface any way you want to map your joystick(s) axes to the FWD, STR, and ROT commands.
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Thank you very much sir
this should be fairly easy to program.
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