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Originally Posted by 3786KRRobotics
If you want to strafe to the left, you want to drive the front left forward and rear left backwards while driving the front right backwards and the back right forwards. This creates a vector in only the left direction.
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Quote:
Originally Posted by Ether
Not. The wheel speeds described above are all the reverse of what they should be.
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Or perhaps team 3786 has their wheels mounted incorrectly? The rollers should form an "X" when viewed from above, and a diamond when viewed from below.
This is supported by the following observation, which shouldn't ever happen with properly oriented mecanums; if the torques add up to zero, and the translation adds up to zero, and the wheels are spinning, something's wrong.
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This will result in your end vector heading towards the middle of your robot causing it to spin it's wheels and get nowhere.
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Correction: this is possible, with the front wheels spinning backwards and the rear wheels forwards (or vice versa), but the force doesn't putsh "towards the middle".