Quote:
Originally Posted by [HT]3KEZ
Does anyone know how to do this in Java?
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RobotDrive.java in WPILib
Code:
/**
* Drive method for Mecanum wheeled robots.
*
* A method for driving with Mecanum wheeled robots. There are 4 wheels
* on the robot, arranged so that the front and back wheels are toed in 45 degrees.
* When looking at the wheels from the top, the roller axles should form an X across the robot.
*
* This is designed to be directly driven by joystick axes.
*
* @param x The speed that the robot should drive in the X direction. [-1.0..1.0]
* @param y The speed that the robot should drive in the Y direction.
* This input is inverted to match the forward == -1.0 that joysticks produce. [-1.0..1.0]
* @param rotation The rate of rotation for the robot that is completely independent of
* the translation. [-1.0..1.0]
* @param gyroAngle The current angle reading from the gyro. Use this to implement field-oriented controls.
*/
public void mecanumDrive_Cartesian(double x, double y, double rotation, double gyroAngle) {
if(!kMecanumCartesian_Reported) {
UsageReporting.report(tResourceType.kResourceType_RobotDrive, getNumMotors(), tInstances.kRobotDrive_MecanumCartesian);
kMecanumCartesian_Reported = true;
}