Java and Mechanum

[johncap100]

Wondering if anyone has experience with Java and programming a bot using mechanum wheels. we have downloaded some code but it appears that as soon as we click enable in either teleop or autonomous all four wheels start to move. When we move the joystick there is very little contgrol, certainly not enough to control the robot on the ground.( it is elevated off ground right now) THanks

[Mr. Lim]

http://code.google.com/p/runnymede-r...0_Team_1310_V2

[johncap100]

Thank you for the site, but where is it on the site
thanks

[Dustin Shadbolt]

Originally Posted by johncap100

Thank you for the site, but where is it on the site
thanks

I haven't looked at the code, but just at the site briefly. Most likely it will be under MyRobot.CPP. Just load it up and press control+f and type in "Mecanum".


~DShad

[Mr. Lim]

My apologies. The code from Team 1310 is C++, but hopefully you will find a use for it.

The code of interest will be in MyRobot.cpp, where most of the heavy-lifting is done with respect to Mecanum.

It uses US Digital encoders in an AndyMark Toughbox at all for corners of the robot. A velocity based PID ensures all the wheel are spinning at the correct speeds.

The math does conversions such that all velocities are in metres/second.

The mecanum algorithms are based on a presentation that Ian Mackenzie from 1114 did on holonomic drives back in 2004.

[Ether]

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