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Unread 19-01-2017, 08:43
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Re: command based, gyro, omnidrive

Quote:
Originally Posted by Caleb O View Post
it is kinda a custom drive train but it might work with the second one. sorry for the horrible drawing but that is what ms paint gives me: https://www.dropbox.com/s/lz4ow5kgpqaw9vv/omni.png?dl=0
Using the Mecanum code but rotating everything by 45 degrees may give acceptable performance. Something like:

Code:
RobotDrive::MecanumDrive_cartesian((x+y)/2, (x-y)/2, rotation, gyroAngle)
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