Quote:
Originally Posted by artdutra04
It's easy to program "relative" absolute mecanum/holonomic code, as in you push the joystick left and the robot moves to the left relative to the robot. This method does not need any math functions other than elementary operators (like +-*/).
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Maybe our is too over-the-top but we use a few trig functions and things as well in our algorithm. In 08 on the old control system we even had to develop our own angular unit (b-rads!) and define trig lookup tables to provide a semblance of efficiency
It's all how you look at it, I think. I was the student developing our first ever algorithm in 07 that split the joystick area into 16 "control zones" with hardcoded values that just got scaled based on how hard the joystick was pushed. Our current algorithm is completely dynamic based on the positions of our translation and rotation sticks.
1675 has used mecanum in 07, 08, and now this year. We are happy with our home-brewed algorithm except for the fact that we never quite get the chance to slap encoders on. (And yes, our drivers do strafe
)
I would like to try a dropped 6-wheel one year though...