
08-05-2015, 11:41
|
 |
The GreenHorns Team Lead
AKA: Ryan Swanson
 FRC #4607 (C.I.S.)
Team Role: Mentor
|
|
Join Date: Jan 2014
Rookie Year: 2012
Location: Becker, Minnesota
Posts: 893
|
|
|
Re: Kiwi Drive Concept
Quote:
Originally Posted by GeeTwo
I skipped the research when I realized that all of the square roots and trig functions canceled out, and the mapping was pretty straightforward. To map rotation about a point x r, y r at angular speed w r (measured in radians/second, with rotation from the positive x axis towards the positive y axis being a positive angular speed) to translation speed v x,v y and rotation w 0:
w0 = wr
vx = w yr
vy = -w xr you can use this same preliminary mapping to make a mecanum drive rotate around a desired point.
For conversion purposes, 1 radian per second is 30/pi ~ 9.55 rpm.
If you use mathematical conventions for your coordinate system (+x to the right, +y forward), and measure your rotations with the navigation convention of clockwise as viewed from above, your angular speeds will be reversed from this, and you will need to use:
w0 = wr
vx = -w yr
vy = w xr
|
Thanks a ton for all the information about kiwi drives! It has definitely influenced my plans moving forward!
|