Quote:
Originally Posted by Ether
Why do you want to do this?
|
"Originally Posted by JamesTerm
The other half will be the reverse of that where given the wheel angles and speeds, what is the current x, y and rotational (i.e. angular) velocities.
"
For 2 reasons... one is to render the images position on our simulation. I use text graphics on OSG (open scene graph). The other reason is for autonomous where if I can interpolate the position on a 2D field I can calculate the desired velocity and orientation to hit a target.
I have achieved these tasks with WCD, but I have not yet confirmed angular motion (logomotion did not require that). I am still researching this, but I believe I can have accurate angular turns if I have reliable encoder readings of distance. Anyhow... none of this matters if we switch to swerve.