Quote:
Originally Posted by EricH
Nope. If the CG isn't near (at) the center, the robot won't translate straight. That's what I was referring to when I said that handling would suffer. Center of rotation wouldn't necessarily be affected for a turn.
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I think I failed to express myself clearly. By center of rotation, I meant that point on the bot where it thinks its center is, the point that a and b are based on in the equation for one wheel's speed, "|vw4 | = vty + vtx + ω(a + b)" (from
strafing.pdf, page 19/35). I'm guessing that the controls would still come out incorrect, because of the uneven pressure on the wheels, but I thought I should make sure we were speaking the same english.