Quote:
Originally Posted by ubermeister
You can't turn under power with X on the bottom. All the force that would be turning the robot is redirected by the rollers into an X pattern rather than an O pattern. So the robot is really pushing inwards on itself when it tries to turn, rather than pushing itself around.
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If your mecanum wheels are placed in a rectangle rather than a perfect square, you actually
can manage to turn if they're installed with the wrong orientation. The vectors won't all cancel completely unless all the roller axes intersect at a single point.
They still cancel to a large extent, and it still doesn't turn very well.
The proper configuration has the rollers angled so that each of the wheels could move freely in a direction toward or away from the center of the robot without the wheel itself turning.