Quote:
Originally Posted by Alan Anderson
This is what we use for a simple open-loop mecanum drivebase. Default_Routine() computes internal speed, turn rate, and slide (sideways travel) values from the joystick inputs, then computes motor speeds from the internal values.
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This is pretty similar to what Team 95 has used on holonomic/omni test robots in the past (we haven't competed with one since around '97 or so, however).
It's easy for things like variations in the carpet and motor differences to cause your drive mechanism to drive slightly off. You should consider adding a gyroscope and feedback loop so your bot can drive 100% straight (and there's good code examples out there for doing this).
And, with the USB Chiklet available this year, it's really easy to use a three-axis joystick, so it's not hard to control an omni-robots three degrees of freedom direct from one joystick.