Quote:
Originally Posted by JonA
Controlling any holonomic-omnidirectional drive system is the same whether it is any number of omni-wheels or mecanum-wheels. The output of the motors are related by a sin curve. Phase shifting the sin curve by the desired heading results in the proper motor outputs for each of the wheels.
Having had a mecanum drive the last two years, we have attempted a number of control algorithms and have settled on this one. Please note that this algorithm takes advantage of Binary-Radians (256 b-rads per revolution) to simplify the trig math.
I hope that you find this useful in your attempts to control your onmi bot.
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This seems really complicated. We've found that the method I linked to above works just fine and is quite easy to program.