Quote:
Originally Posted by GeeTwo
Using the WPIlib convention for your coordinate system (+x to the right, +y forward, rotations 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
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Once you've got Vx (strafe right speed), Vy (forward speed), and ω,
the inverse kinematics for your 3 wheel tangential speeds are:
S
1 = r*ω + Vx
S
2 = r*ω - 0.5*Vx - 0.866*Vy
S
3 = r*ω - 0.5*Vx + 0.866*Vy
(see attached sketch)