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Unread 02-02-2017, 15:05
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Re: Most Graceful Mecanum Robots?

Quote:
Originally Posted by Kevin Sevcik View Post
This, only I think it'd be better to have it pick the closest of forwards/backwards. Or maybe have that toggleable. It should be straightforward to implement. Hold down the print button, lock out rotation input, apply fixed amount of rotation command CW or CCW in direction of travel based on commanded vector and your current heading. Probably scale it down once you get very close to the correct heading, but capping it to a reasonable amount would probably make driving more stable for large corrections.

Field centric tank drive implemented in this fashion would be an interesting innovation.
We are implementing this in our code this year, I had this same idea a few years back but haven't had a chance to implement it until now.

Strafing can be pretty useful in many situations, but it is an awful choice for travelling long distances quickly.
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