Thread: Hex Kiwi Drive
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Unread 29-05-2016, 10:13
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Re: Hex Kiwi Drive
Quote:
Originally Posted by Ether View Post
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)
I hadn't thought of doing it this way. I had just assumed that "Forward" would be a point of the hexagon moving forward utilizing all six wheels when going forward, instead of just four using this setup. Even still, this all makes more sense now.
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