help with mecanum drive code

[Ether]

Originally Posted by Djur

This is our team's custom mecanum code:

jaguarDrive((jX+jY)/2, (jY-jX)/2, -(jY-jX)/2, -(jX+jY)/2);

jX and jY are just the X and Y coordinates our joysticks read (-1 through 1).


This is by far the simplest solution I've seen.

Simplicity comes at a price:

If jX is zero, your forward command to the wheels is limited to +/-0.5.

If jY is zero, your strafe command to the wheels is limited to +/-0.5

Only when |jX|=|jY|=1 will you ever be commanding full power.

Originally Posted by Djur

That's very interesting, although I see no point at which a robot would need to do that except for showing off.

Most folks like to be able to turn while driving, rather than have to stop and rotate-in-place.