Quote:
Originally Posted by mrklempae
So it's really that easy to drive like that? I assume that you must need encoders to ensure that the motors are spinning at exactly the same speed. How would that be done? How about field-centric steering? Is that particularly difficult to program? Like I said, we don't exactly have any Mecanum wheels to test out with (yet), so this is purely for the sake of learning.
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In 2011 we experimented with speed-controlled mecanum wheels. If you can devise a method to tune your wheel speed feedback loop perfectly, then you will probably see better performance than with open-loop voltage control. We also found it necessary to introduce weight gain constants for each wheel, because the weight distribution of our robot affected mecanum control.
Our team's retrospective analysis of mecanum performance in 2011 is unfortunately more qualitative than it is quantitative -- which is to say some of us would say that there was a noticeable improvement in control, whereas others would say that both our tuned and un-tuned mecanum control was relatively imperfect, perhaps because we did not tune well enough.