Quote:
Originally Posted by 1493kd
Yes that is what I meant (holonomic). I was wondering if other teams have tried this and what are the pros and cons of this design. Thank you
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The
wheel pattern you have shown is similar to a standard Omni wheel pattern (with each Omni wheel angled at 45degrees).
You mentioned that your vehicle chassis will be an octagon. If it is a
regular octagon, then your wheels are at the corners of a square, and your wheel pattern is identical to the wheel pattern of a standard Omni on a square chassis, and you can use existing Omni code just by rotating your command vector by 45 degrees (assuming the "front" of your vehicle is the top of your diagram).