Quote:
Originally Posted by yank
Hello,
My team is trying out mecanum wheels (AndyMark 4 inch diameter) on our robot for FTC Velocity Vortex. Driving forwards, backwards, and turning works fine, however, we are not able to strafe sideways.
When we press the gamepad A button or the gamepad B button (our strafe controls), the robot moves in random directions, although occasionally it does strafe properly for a few seconds (which probably rules out any mechanical reasons for failure).
N.B.: "Bot" is a public class (please see bot.java); FL, FR, BL, BR refer to motors that power mecanum wheels (front-left, front-right, back-left, back-right respectively)
We suspect that using the "Bot" class causes problems, though we are not completely sure why or if that is true at all.
We would greatly appreciate any advice on this matter. I've posted links to our code below:
Teleop program
Direction (enum)
Bot.java
Thank you very much. |
There is code out there for mecanum drive you can find to verify your code. Our team built 3 drive trains this year and I was part of the mecanum team. Though I wasn't in charge of coding, our robot was having the same issue of unable to drive side ways or diagonal. We realized the orientation of the wheel affected it's mobility drastically and if it wasn't in the correct order, it would prohibit sideways movement. Before changing the code, look up orientation of the wheels because there are different orientations out there and we did it 3 different ways before it worked with our code.
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