6 wheel holonomic drive feasibility

[ekapalka]

Originally Posted by evanperryg

[...] and it is a nightmare to program.

The only thing that makes me feel any better about programming mecanum wheels is this information (courtesy of Ether; thanks, by the way) and the mecanum classes in WPI (we're using C++), which I have been reading over and over since I found out we had the mecanum wheels (that doesn't mean I should rely on it, but it gives us hope that we can program it). We already have four wheels, four gearboxes, four motors, and four Talon SRs, all with no dedication at the moment. We're currently designing the chassis with room for a central gearbox (see original post), not necessarily for omni wheels, but for the possibility that we go back to skid steering. Hopefully it'll be water or plasma cut from sheet metal, so adding in additional holes for such things won't be that much more difficult (if we're getting it water-jet. If it's plasma cut it won't quite be as easy). Thanks for your input, by the way :)