Quote:
Originally Posted by Djur
This is our team's custom mecanum code:
Code:
jaguarDrive((jX+jY)/2, (jY-jX)/2, -(jY-jX)/2, -(jX+jY)/2);
jX and jY are just the X and Y coordinates our joysticks read (-1 through 1).
This is by far the simplest solution I've seen. |
Simplicity comes at a price:
If jX is zero, your forward command to the wheels is limited to +/-0.5.
If jY is zero, your strafe command to the wheels is limited to +/-0.5
Only when |jX|=|jY|=1 will you ever be commanding full power.
Quote:
Originally Posted by Djur
That's very interesting, although I see no point at which a robot would need to do that except for showing off.
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Most folks like to be able to turn while driving, rather than have to stop and rotate-in-place.