Quote:
Originally Posted by Cash4587
The programming on this would be very very tricky.
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Code:
wheel1 = STR + ωR
wheel2 = - FWDcos30 + STRcos60 + ωR
wheel3 = - FWDcos30 - STRcos60 + ωR
wheel4 = - STR + ωR
wheel5 = FWDcos30 - STRcos60 + ωR
wheel6 = FWDcos30 + STRcos60 + ωR
(Then divide all wheel speeds by the maximum one if any one exceeds the maximum achievable wheel speed)