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Re: WPILIB mecanum code not working properly
Quote:
Originally Posted by cad321
Code:
wheelSpeeds[MotorType.kFrontLeft_val] = xIn + yIn + rotation;
wheelSpeeds[MotorType.kFrontRight_val] = -xIn + yIn - rotation;
wheelSpeeds[MotorType.kRearLeft_val] = -xIn + yIn + rotation;
wheelSpeeds[MotorType.kRearRight_val] = xIn + yIn - rotation;
to the following:
Code:
double mFL = strafe + forward + rotation;
double mFR = strafe + forward - rotation;
double mRL = strafe - forward + rotation;
double mRR = strafe - forward - rotation;
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Maybe I missed something here, but may I ask why you changed the signs in the equations?
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2016 Competition Results (Co-captain, Driver, and Lead Programmer; Junior)
Springside-Chestnut Hill District Event - WINNER / #2 Seed, #1 Seed's First Pick / Gracious Professionalism Award
Westtown District Event - WINNER / #1 Seed / Industrial Design Award
MAR District Championship - WINNER / #1 Seed / Industrial Design Award / Dean's List Finalist Award (Me)
World Championship, Carson Subdivision - QUARTERFINALIST / #3 Seed, #2 Seed's First Pick
Indiana Robotics Invitational - FINALIST / #14 Seed, #2 Seed's Second Pick
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