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Unread 24-03-2005, 21:28
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Smile Re: Holomonic Drive mathmatics discussion

Ah, where was I? Ah yes...

This is the equation for a drive axis not being driven along its drive axis.

drive_towards_FL = int(tan(45 - tan^(-1)((127 - true_robot_x)/(true_robot_y))) * drive_towards_FR) + 127

or if the FR axis is not being driven along:

drive_towards_FR = int(tan(45 - tan^(-1)((true_robot_x - 127)/(true_robot_y))) * drive_towards_FL) + 127

Isn't that just so fun?!?! Ahh... sadly though, as I understand it, the CPU is really slow at doing this sort of math, so I guess this would have to be converted into look-up tables. Oi. Oh well. That's the extent of my inspiration. Hope you can decipher what I was saying, because I would really like to know...