Note: When I refer to omni, I mean a robot which has 90 degree omniwheels, one on each side of a square (or rectangle). That square can be rotated from the robot frame, meaning you have a wheel diagonally in each corner.
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Originally Posted by daltore
I think it would be a little simpler to program mechanum reliably as apposed to omni
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Unless I'm misunderstanding you, not really. As said before:
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Originally Posted by Abwehr
The same exact code can be used with either configuration.
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Quote:
Originally Posted by daltore
From what I've seen in VEX, Mindstorms, and FRC, mechanum tends to lend itself to a slightly more powerful drive train, as omni holonomic has almost no resistance to movement, basically making it a hockey puck on wheels (note the incessant fishtailing of 2158's robot from 2007 FRC, where we only had 2 omniwheels, and were pushed around easily).
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Power-wise, mecanum and 4-wheel omni are exactly the same. You get ~71% (sqrt(2)) power in one set of directions, and 50% in the directions 45 degrees from the first. Any differences are in the construction of the wheels.