Encoders and gyro

[Mandelbrot]

I think he's asking if the formation of the wheels is correct. There are two kinds, an "X" formation and an "O" formation.

This is the "O" formation. The slash is the angle of the roller that is touching the ground. It will appear the opposite from the top.

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This is the "X" formation. If your wheel base was a square in this formation then you wouldn't be able to spin, but it doesn't sound like that's the case.

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Make sure your wheels are in one of these two formations.

Another thing to think about is the weight on each wheel. A mecanum drive should have about equal weight on all wheels to maneuver correctly.

EDIT:
Also, you should make sure that your gyro is being reset at the right time. You might want to make a button for manual gyro reset just in case.

We'll be at the 10,000 lakes regional as well in case you still need help. (assuming our problems are sorted out...)

[Ether]

Originally Posted by Mandelbrot

Make sure your wheels are in one of these two formations.

If the wheels are mounted so the X configuration appears on the bottom, you will encounter 2 issues:

1) You must change the sign of the strafe command if using the WPILib mec functions, and

2) The available rotating torque will be dramatically decreased, and it will be easier for an opponent to spin you.