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Adam had tried to work on a program and it ended up being huge.
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I have developed an omnidirectional robot for another project, and I found that the code initially looks difficult, but may easily be simplified. The euqations start out very complicated with trigonometric functions and vectors. A several hours of work and it can be simplified to about 10 lines of code.
One can simply plug in one joystick and use the following code (initialization sequence skipped):
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