Quote:
Originally Posted by Cash4587
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.
|
If you want FWD to be a point on the hexagon, just change the inverse kinematics like so:
Code:
wheel1 = - FWDcos60 + STRcos30 + ωR
wheel2 = - FWD + ωR
wheel3 = - FWDcos60 - STRcos30 + ωR
wheel4 = FWDcos60 - STRcos30 + ωR
wheel5 = FWD + ωR
wheel6 = FWDcos60 + STRcos30 + ωR
(Then divide all wheel speeds by the maximum one if any one exceeds the maximum achievable wheel speed)