Great work! Except now our robot won't have a power and pushing advantage over the other mecanum's using HolonomicDrive, LOL.
Quote:
Originally Posted by jhersh
Here is the change list description:
+ Add a Cartesian implementation of the mecanum drive method.
* Clean up the expressions in the polar mecanum drive method.
* Replace the saturation approach with a normalization to prevent inconsistent wheel speed ratios.
* Scale the magnitude by sqrt(2) to get full power along the axes.
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