Quote:
Originally Posted by JesseK
Under the covers, when on a diagonal, software tells 2 motors to drive the diagonal while the other two motors sit idle. This allows the diagonal strafe. Yet when pushing while on this diagonal, the bot effectively has 70% * 1/2 (due to 2 motors out of 4) = 35% of the original torque of the 4 CIM setup. Ergo, Mecanum drive trains with true holonomic control only ever apply 35% to 70% of 4CIMs to any direction.
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On the diagonal, all the torque of those two motors is working in the direction of travel. You get 100% of two motors, or 50% of a 4 motor traditional drivebase.
(The original LabVIEW omni/mecanum drive vi took that into account and reduced the maximum power in the forward/sideways directions to 70% of what it could be. That gave 50% of full motor torque in every direction. It was a good idea for making consistently-controllable omnidirectional movement easy, but it was a terrible idea for being able to call on the most performance when necessary.)