[Egg 3141592654]

Sorry if i wasn't so clear, what i meant was this...

The Holonomic drive never worked for autonomous (getting, setting, etc.), so we did what i was explaining later in the post. In the WPI library, you can establish individual Jaguar/Victor motors, each with their own separate values. Naturally, with something like Mechanum wheels, this would be perferred when each motor spins in a unique way.

The "wiring" aspect was the moving of numbers from the "get" method in the joystick class to the "Set speed" method.

The Pseudo code looks something like this...

Jaguar motor1 = new Jaguar(1);
Jaguar motor2 = new Jaguar(2);
Jaguar motor3 = new Jaguar(3);
Jaguar motor4 = new Jaguar(4); <-- that is declaring everything separate
Joystick joy = new Joystick(1);

... code...

if(joy.getAxisY() == -1)
{
motor1.setSpeed(joy.getAxisY());
motor2.setSpeed(joy.getAxisY()*-1); <-- setting everything seperate
motor3..... you get the point.
}

Essentially, I re-created the Holonomic drive without actually using the Holonomic Drive in Labview. I didn't use it because 1. it didn't appear to work when i tried it and 2. I can just as easily overload it. Hopefully this cleared things up for you.


*NOTE: Pseudo done as if in Java*