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Unread 07-01-2014, 10:16
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Re: Mecanum wheels

Can anyone speak to the wear of VEXPro 4" Mecanum rollers compared to the 6" wheel rollers over the course of multiple competitions?

In an average year we compete in 2-3 official and 2 off-season competitions, perform in several demos & run a lot of driver practice for the next year's team. So the wheels really need to last. Yet it'd be nice to know what spare parts to get ahead of time (i.e. 1 set of spare rollers per 1 event or 2 events?) when comparing wheels. If we have to replace the 4" wheel's rollers every 1 event, we may go the 6" route so we don't have rollers that are wearing thin at the end of an event.

My team's poking at the idea of Mecanum for a few reasons, and it's easy to implement on our current drive frame.

About Mecanum in general:
The only thing I can say without reading a metaphorical earful from Ether (ha, hi Ether) is that the default field-centric (or robot-centric with no deadband) control algorithm robs the drive train of power just by the nature of the code. When translating on the 45-degree relational diagonal (i.e. 0 degrees = full forward, 90 degrees = full right, so at 45 degrees the bot goes forward & right), 2 motors are completely turned off by the algorithm.

If we implemented Mecanum, we'd most likely do a dual-mode driver control. In the first mode, it'd be field-centric holonomic drive. In the 2nd mode, the driver would be limited to robot-centric tank drive with 90-degree strafing. The driver would be in the 2nd mode most of the time.
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Last edited by JesseK : 07-01-2014 at 10:19.
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