Thread: Best way to control the mechanum wheels
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Unread 12-01-2011, 23:40
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Re: Best way to control the mechanum wheels
The algorithms for the speeds to drive each wheel are in white papers here, i'm sure. For omnidirectional drives, I like to use the setup with one joystick doing direction, plus one more axis doing turning. My team has found that twisting a stick makes it harder to drive. This setup is ideal for a game controller, which is quite trivial to program if you know how to do a normal joystick (see getRawAxis). If you are up to it, making the drive field-centric using a gyroscope makes it much more intuitive to drive.