[Whippet]

Originally Posted by Cinnamon Toast

Hi Guys,

This seems to be a good place to put my questions. I noticed that u2fletch in his code for mecanum_cartisian used 0 for the 4th argument of the robot drive object. From my understanding (and please correct me if I'm wrong) I believe a gyro is used so that you get field centric strafing when driving. This means that when no matter what your rotation, the robot will still straif to left (therefore the robot itself is moving backwards) right? Say I don't want field centric movement like this, and would like robot centric drive. Does that 0 value make the drive robot centric? Any help is really appreciated. Thanks guys!

Yes, including the 0 in the mecanumDrive_Cartesian object causes the robot to always think it is facing away from the driver, effectively creating robot-centric drive.