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Unread 22-12-2010, 06:33
BEEKMAN BEEKMAN is offline
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AKA: Brendan McLeod
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Re: Holonomic + gyro/PID

Quote:
Originally Posted by Ether View Post
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

Yes, by simply doing the normal field controls, and adding the turning code (increase one side's speed, decrease another's) you have a beautiful turning and driving bot.

Its important to remember, that in mechanum, each wheel operates individually, and can put its vectors in any of the 45 degree directions at a time.


Oh, and when using the trigger in an open area, it acts like a car the way it drives...no matter what direction it is driving in, the bot it facing frontwards!
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Last edited by BEEKMAN : 22-12-2010 at 06:36.