Programming full "holonomic" for mecanums

[Dfontana]

Correct me if I'm wrong, but shouldn't this already be fully implemented in an encapsulated method (likely Holonomic Drive)? This is the case with LabView, and has been since about midway through the 2010 season.

All you should have to do is feed in the x, y, and z-axis of your joystick as parameters to the Holonomic Drive method.

I haven't personally seen the Java WPI so I can't say for sure. Check?

[davidthefat]

Originally Posted by Dfontana

Correct me if I'm wrong, but shouldn't this already be fully implemented in an encapsulated method (likely Holonomic Drive)? This is the case with LabView, and has been since about midway through the 2010 season.

All you should have to do is feed in the x, y, and z-axis of your joystick as parameters to the Holonomic Drive method.

I haven't personally seen the Java WPI so I can't say for sure. Check?

Now what is the fun in that?

I can argue that making the function yourself is 10x better. First, you learn how it works; its not a black box to you. Second, you have FULL control over the code. Now this year, our code is getting ramped up; it has actual structure Last year I just did spaghetti code, because of my laziness. You really can't have structure with a black box in the middle of it.

There is no challenge when using the driver class; its like putting together a kitbot. Sure it works and its easy, but where is the accomplishment in that?

[Dfontana]

It's funny that you say that, because I and a collaborating programmer spent the better part of a week writing a custom VI for Holonomic Drive last year, only to be given the "black box" - which was almost the exact same code - in the LabView update a week later.

I will admit that an understanding of the underlying code and concept was very beneficial. However, for novice programmers or those just looking to get a drive system working at the moment, there's really no need to reinvent the wheel, so to speak.

[davidthefat]

Originally Posted by Dfontana

It's funny that you say that, because I and a collaborating programmer spent the better part of a week writing a custom VI for Holonomic Drive last year, only to be given the "black box" - which was almost the exact same code - in the LabView update a week later.

I will admit that an understanding of the underlying code and concept was very beneficial. However, for novice programmers or those just looking to get a drive system working at the moment, there's really no need to reinvent the wheel, so to speak.

Well I can argue that you will never get better if you do not push yourself. Oh and BTW I can get the drive working in 5 lines; its quick and easy. The road to the top is always uphill, there is no easy way out. That is how I see it as. Just like "never put stuff into your body that you don't know".

[Ether]

Originally Posted by Dfontana

Correct me if I'm wrong, but shouldn't this already be fully implemented in an encapsulated method (likely Holonomic Drive)?

Yes*. I inferred from the OP's post that he already knew that, but was trying to home-brew something.

What I posted had commenting that explained what was being done and why. The RobotDrive::HolonomicDrive is not well documented in the C++ help file and library reference file. If you are familiar with it, would you please visit this thread and share what you know?


*well, not "fully". it doesn't appear to support the gyro like the LabVIEW version does.