Thread: 2015: Year of the Mecanum
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Unread 06-01-2015, 12:03
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Re: 2015: Year of the Mecanum
Quote:
Originally Posted by alopex_rex View Post
Has anyone done anything with using a gyro to correct mecanum issues? People have mentioned it in this thread but I couldn't find any examples online (all I found were examples of how to use gyros for field-oriented control, which is cool too). It seems like it would be fairly simple to, say, store the current gyro angle whenever you start going straight (i.e. not rotating), and have a PID controller change the "rotate" value to maintain the same angle as long as you're trying not to turn. Has anyone done anything like this?

I don't think "mecanum" even has a correct pronunciation; on our team we say me-CAN-um /məˈkę.nəm/, but I think i've heard MEC-(a)-num /ˈmɛk.(ə.)nəm/, which presumably is where the "mecnum" spelling comes from.
Absolutely. It's not terribly complicated either. After all your meCHanum motor set speeds are calculated, mix in a component from the gyro useing a PID. Only do this when the driver is using the strafe functions. Disable it when he is turning.

Easy Peasy.
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