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Unread 31-10-2006, 22:54
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Re: Omni-wheels and driver-centric drive

Quote:
Originally Posted by Astronouth7303
We have not done this, I know of teams that have.

67 (2005), 190 (2005), and a few others have done full-joystick holonomic drives with turning.

The thing you need is a gyro and a lot of trig. Do a lot of theory before-hand and try to simplify it as much as possible.

Do lots of testing. A co-processor may not be out of the question for this.

[edit]I believe both 67 and 190 (I know 190) used mecanum wheels, which are slightly different than omni-wheels.[/edit]
67 has actually never used mechanum that I know of, but they did build a crab in 2005. Not sure if that was driver-centric, but I do know that they almost filled all the code space with drive code, so I would imagine it was...

I would think that you'd run into problems with drift after awhile, but not sure if it would be < 3 minutes.
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