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Re: mecanum programming
oh yeah and if u want a gyro for true holonomic movement (as im planning to do) just turn the xy joystick inputs to magnitude and direction, then offset the angle by the gyro's input, then convert back into the joystick xy input and run through the drive like nothing happened. simple trig. This makes it so that no matter what direction the bot is facing, forward always makes the bot move 'up' and backward always makes if move 'down' etc. even if 'down' is actually the bot's forward-left.
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