How to program Strafing with Mechinum wheels in Labview.

[swaglord2000]

I am a novice programmer with no help at my school, and I have been able to make some decent progress. As of now I have programmed the robot to drive correctly with the ps2-like controller. On the left joystick I have it when it is pushed up the robot drives forward and when pushed down it goes backwards. I am wanting it to strafe right when the joystick is pushed right and left when the joystick is pushed left. I have tried going into the Begin.vi and inverting the motors, but when I do that it messes up the other controls. I need to make a separate variable for when I push the left joystick right or left that it only inverts certain motors. I appreciate all of the help.

In short we want to be able to invert certain motors only on a single axis.

Thanks, team 4073

[Whippet]

You ned to go into your teleop.vi and wire the axis you want from your joystick into the appropriate axis input on the RobotDrive block. For us it's axis 1 into x, axis 2 into y, and axis z into z.

IIRC:

x=Strafe left and right
y=Forward+Backward
z=Rotation

[swaglord2000]

We have all the driving set up to the axis we want. We have it set up right now where on the left joystick forward and back drives forward and back, and left and right is supposed to strafe. The right joystick has right and left turning right and left. It is all programmed correctly to the way it will work with our motors. The only problem we have with strafe is that when we try to strafe all the wheels either go all inward or all outward which is why we need to invert two of them to actually move and not just spin in place.

Here a picture of our teleop. We switched around the axises so that it would work for the controller where the default had it initially switched all around in the wrong places.

[Alan Anderson]

Detail for us the wiring of your speed controllers and motors, and show us how Begin is opening the 4 Motor Drive. In the process, make sure the software matches the hardware. If you have a couple of motor locations swapped, you can get the symptoms you describe.

Also describe how the wheels are mounted. When you look at them from the top, do the rollers form an X or an O pattern?