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Re: Circling around a point on grass with Mecanum
one issue you may run into is that mecanums have issues on non flat/hard surfaces as they will not have balanced vectors. That being said it is certainly possible, however I don't know if a gyro will be able to do it itself. you may want to consider incorporating a compass too as the shaking that will occur may cause an inordinate amount of drift.
Another alternative is to create a spine, this tend to help quite a bit with mecs, and wpi has always integrated spines into their mec drives.
it is certainly possible, but you will find that strafing on grass creates some interesting issues.
Good luck!
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