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Unread 10-01-2017, 09:40
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Founder and CEO, DeadMemes Studios
AKA: Mitchel Stokes
FRC #5817 (Uni-Rex)
Team Role: Mentor
 
Join Date: Aug 2013
Rookie Year: 2014
Location: Clovis, CA
Posts: 405
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Re: Optical mouse for mecanum Odometry?

Quote:
Originally Posted by AriMindell View Post
We want accurate X/Y position of our mecanum drive, and research told me that encoders are not accurate enough with mecanum wheels due to slipping of casters.
In addition, I think that you cannot determine your current position independent of time with just the encoder positions for mecanum, since it matters what combination of velocities you have each timestep.
That said, we are planning to use a gyro for heading. The mouse would only be for translation.



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You can determine your position independent of time, as encoders can tell you both the position and velocity of the bot at any given time. That being said, I cannot speak to the accuracy of encoders with mecanum wheels, but I imagine that it could be feasible depending on how it is implemented.
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My FRC History:

2014 - Team 1671: Central Valley Regional Finalist and Chairman's Award Winner, Sacramento Regional Finalist, Archimedes Quarterfinalist
2015 - Team 1671: Central Valley Regional Semifinalist, Sacramento Regional Semifinalist and Chairman's Award Winner, Newton Winner, Einstein Winner
2016 - Team 5817: Central Valley Regional Finalist and Rookie All-Star, Orange County Regional Quarterfinalist and Rookie All-Star, Newton Division
2017 - Team 5817: Return of the bench grinder


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