Quote:
Originally Posted by adamdb
Is this designed for use with mechanum or omni wheels? I think the outputs to the motors are significantly different between the two.
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I believe this algorithm will work equally well for:
- straight-mounted mecanum wheels arranged in an "O" pattern as viewed from the bottom (which is the same as an "X" pattern when viewed from the top)*
and
- omni wheels mounted at 45 degrees so as to form an "O" pattern (as viewed from either the top or the bottom)
The important point is that the axis of rotation of the roller which is in contact with the ground should be perpendicular (or nearly so) to a line drawn from the center of the bot out to the wheel in question (regardless of whether the wheel is omni or mecanum)
* see this post for an explanation of "X" and "O":
http://www.chiefdelphi.com/forums/showpost.php?p=907174
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