|
|
|
 Why is it whenever you tell someone there is a million billion stars in the universe they believe you, but if you tell someone that the bench over yonder has wet paint, or if usfirst.org comes up as the 1st result in Google people have to try it for themselves?
- artdutra04 [more] |
 |
|
|||||||
|
||||||||
|
|
Thread Tools |
Rating: 
|
Display Modes |
|
#12
03-01-2015, 17:00
|
||||
|
||||
|
Re: Potential Omni Drive System
Quote:
Code:
S1 = STR + (L/2)*Omega S2 = FWD + (W/2)*Omega S3 = STR - (L/2)*Omega S4 = FWD - (W/2)*Omega ... then normalize if any wheel exceeds max speed W = trackwidth, ft FWD = forward, fps STR = strafe right, fps Omega = clockwise rotation rate around center, rad/sec S1 front right wheel linear speed, fps S2 front left wheel linear speed, fps S3 rear left wheel linear speed, fps S4 rear right wheel linear speed, fps Last edited by Ether : 04-01-2015 at 11:26. Reason: changed to engineering units for more general applicability 
|
| Thread Tools | |
| Display Modes | Rate This Thread |
|
|
Threaded Mode