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Unread 08-05-2015, 22:30
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Re: Kiwi Drive Concept

Quote:
Originally Posted by GeeTwo View Post
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
Once you've got Vx (strafe right speed), Vy (forward speed), and ω,
the inverse kinematics for your 3 wheel tangential speeds are:

S1 = r*ω + Vx

S2 = r*ω - 0.5*Vx - 0.866*Vy

S3 = r*ω - 0.5*Vx + 0.866*Vy

(see attached sketch)
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