Quote:
Originally Posted by Alan Anderson
Not necessarily. If the front and back PWM controls are swapped on one side, the robot will probably just bounce in place trying to squeeze or stretch itself sideways. If they're swapped on both sides, the robot will probably strafe in the wrong direction, and trying to turn while strafing will be very entertaining.
The first thing to do is make sure the wheels are installed in the proper orientation. The second thing is to make sure the PWM definitions in software match the wiring in hardware. Then you can determine whether or not any of the motor directions need to be inverted.
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Very true Alan, I meant to put in a step for checking the correct strafing direction but I forgot apparently.
Jimbo - The "lag" you are seeing could be coming from several different sources. I would look through the Diagnostics tab Error messages and see what's appearing there, verify you are sending the appropriate values to the Mecanum drive VI using probes/indicators. If you have other code in your project create a new default project, add only the code you need to drive and see if you still have the lag.
If that's not an issue you may have some binding. For the wheel that is slower see what could be causing it. We had some issues with the 6" Mecanum wheels and the AM Wormbox's due to very little clearance with the chain sliding across the mecanum plate, along with the Wormbox itself rotating towards the wheel and making the chain bind and then fall off. Only with proper bracing, alignment and spacing are we able to drive effectively, definitely not a "slap together" system.
If you can't find the problem you can definitely post your code and pictures of your drive-train here so we can help more.