Quote:
Originally Posted by Jogo
I'm curious as to the theory of how this is accomplished. For example, we've done the same thing without holonomic wheels (called it 'Vector Drive'). However, this was accomplished using "skid" (speeding up one side of the robot, slowing down another). Is there a different principle involved for holonomic?
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A mecanum, or a full-swerve drive*, can rotate as it is translating. If you have field-oriented control, you can easily maintain a fixed heading as you rotate. The
coordinate translation keeps the robot going in the same direction while it is rotating. It's a beautiful thing to see - looks like an ice-skater.
So, as the robot is heading toward the target, it simultaneously rotates until its yaw angle is aligned with the heading angle.
*i.e. 4 independently controlled wheels