Quote:
Originally Posted by Telthien
Perhaps our team hasn't been setting it up properly, then? I distinctly recall trying just that, and ending up with an arc depending on the degree to which it was powered. I'm not sure how one would explain this, though.
|
An arc is exactly what you would expect to get with a tank-drive User Interface when both joysticks are pushed forward, with one pushed further than the other.
If you are using Y
L and Y
R to control the left wheels and the right wheels, respectively, you will get essentially the same behavior from a mecanum drive as you would from a skid-steer vehicle.
Quote:
|
As for Cartesian vs. polar, most implementations of Cartesian processing I've seen simply convert to polar coordinates, then use sines and cosines. I guess it would be possible to do so otherwise, but it seems less simple and/or flexible, at least at first glance. That could definitely be wrong, though.
|
The inverse kinematic calculations for mecanum are actually simpler with Cartesian inputs, and require no trigonometry. Polar inputs must be converted to Cartesian with trigonometry.