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Re: Java and Mechanum
My apologies. The code from Team 1310 is C++, but hopefully you will find a use for it.
The code of interest will be in MyRobot.cpp, where most of the heavy-lifting is done with respect to Mecanum.
It uses US Digital encoders in an AndyMark Toughbox at all for corners of the robot. A velocity based PID ensures all the wheel are spinning at the correct speeds.
The math does conversions such that all velocities are in metres/second.
The mecanum algorithms are based on a presentation that Ian Mackenzie from 1114 did on holonomic drives back in 2004.
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