Quote:
Originally Posted by abigailthefox
My team has decided to go with a holonomic drivetrain this year, specifically four omni wheels mounted in the corners of the base, at 45 degree angles.
I saw on another thread (from several years ago) a note about using the mecanumDrive_Cartesian method in the WPILIBJ to control a holonomic drive similar to the one we are using.
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Yes, the mecanum method in WPILib will work with the omni drive you described above.
What gear ratio (from motor to wheel) are you planning to use?
What diameter omni wheels?