Quote:
Originally Posted by TylerHarmon
Sure, if you want to discuss it further we can. My main point is that the rollers on mecanum wheels...
... freely spin, which allows a robot to strafe, but results in inconsistent data when used with an encoder.
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Ether posted the following code for determining robot position based on the wheel velocities of mecanum wheels in another thread:
Code:
FWD = r*(w1+w2+w3+w4)/4
STR = r*(w1-w2+w3-w4)/4
Wv = (1/k)*(w1+w2-w3-w4)/4
r is wheel radius
k is |trackwidth/2| + |wheelbase/2|
w1,w2,w3,w4 are FL,BL,BR,&FR wheel speeds in rads/sec
Wv is robot clockwise rotation rate in radians per second
The implicit assumption is that the velocity vector applied to the robot by a mecanum wheel spinning at constant velocity is constant.
are you arguing that the velocity vector created by a mecanum wheel spinning at a constant velocity is
not constant or predictable, therefore that equation provides an unreliable estimate of robot position?