Thread: Mecanum Single Joystick Control not working
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Unread 04-02-2015, 21:20
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Programmer/Electrical
AKA: Zach M
FRC #3525 (Nuts and Bolts of Fury)
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Join Date: Feb 2014
Rookie Year: 2013
Location: Waterbury, Connecticut
Posts: 152
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Re: Mecanum Single Joystick Control not working
Quote:
Originally Posted by Ether View Post
Would you please post a link to where you've been reading that?

I don't have access to LabVIEW to inspect its code, but here's the inverse kinematics code taken straight from 2015 WPILib RobotDrive.Java:

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;
I'm not a Java guru, but it looks correct to me.
I'm not quite sure how credible this is, but it sure did help me.
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