pic: FRC488's Octocanum Ver 2.0

[Ether]

Originally Posted by JohnGilb

Sorry, I think something got lost in my description.

-We perform closed loop control of X translation as commanded by the X axis of Joystick1

-We perform closed loop control of Y translation as commanded by the Y axis of Joystick1

-We perform open loop control of Robot rotation rate as commanded by the X axis of Joystick2 (however, when desired rotation rate is 0, we perform closed-loop control of robot angle as commanded by the heading we were at when we stopped rotating)

This was accomplished with 3 follow wheels and a gyro. Two of the follow wheels were used to track the robot moving forward/backward, and one was placed directly under the center of rotation and used to track the robot strafing.

OK that's pretty clear, thanks.

Were the forward/backward follower wheels mounted like this? And, I assume they were omni, correct?

Did you ever consider, or try, using the data from the follower wheels to compute rotation rate?