Quote:
Originally Posted by whlspacedude
This year we would like to try mech drive with 1 joystick. this joystick has x,y and z(twist) on the stick and t for speed.
i have no clue how to do mech programing and would really like some help with it .
we would like strafe with the x axis and turn with the z axis.
also we would like speed control with the t axis
how would we go about doing this in easyc? |
While it's not easyC, check here:
http://www.chiefdelphi.com/forums/sh...m+drive+co de
The basic idea for either an omnidirection or mechanum drive train, each wheel will have a certain speed that it needs to be driven to contribute to the desired combination of f/b motion, strafing, and turning. You calculate these for each wheel, and sum them up.
Code:
fr_pwm = speed-turn+strafe;
fl_pwm = speed+turn-strafe;
br_pwm = speed-turn-strafe;
bl_pwm = speed+turn+strafe;
You may have to reverse some of these due to how your motors are installed, and you would be best to do a lot of bounds checking and be careful with variable types to make sure you don't have wraparound errrors.