Need advice on mecanum

[Mr. Mike]

If a robot is designed with the wheels set square at 22 inches and the weight is equal on all wheels. What happens when you load one side with 24 pounds (3 totes) cantilevered out the long way of the totes (fork lift style)? Will it still strafe? Hard to turn?

Mr. Mike

[Chris_Ely]

Originally Posted by Mr. Mike

If a robot is designed with the wheels set square at 22 inches and the weight is equal on all wheels. What happens when you load one side with 24 pounds (3 totes) cantilevered out the long way of the totes (fork lift style)? Will it still strafe? Hard to turn?

Mr. Mike

Not sure how well this translates to FRC robots, but there are mecanum forklifts.

[sasha831]

I've already posted this in another thread, but our team developed our own Java Library, as we had a lot of issues with the default stock code. It can be found here:

http://ai-robotics.com.au/code-libraries/

I am very happy to help any team that needs help programming the mecanum wheels, regardless of whether they are using our library or not

[Ether]

Originally Posted by sasha831

our team developed our own Java Library, as we had a lot of issues with the default stock code

What were the issues you had with the WPILib code?

[slibert]

Originally Posted by sasha831

I've already posted this in another thread, but our team developed our own Java Library, as we had a lot of issues with the default stock code. It can be found here:

http://ai-robotics.com.au/code-libraries/

I am very happy to help any team that needs help programming the mecanum wheels, regardless of whether they are using our library or not

Team 2465 (Kauaibots) has been working with mecanum for a few years now. We're one of those teams that will hopefully have a singing mecanum driver system.

Like the fine folks at ai-robotics, we'd like to make our mecanum drive code available too - in the hopes that other teams find it useful. I sincerely hope this won't steal the thunder from ai-robotics' excellent work, but since the Kauaibots code has some unique features, we wanted to post this on this thread.

This is a custom implementation of mecanum drive, based on Ether's incredibly thorough and enlightening documentation that was posted a few years ago.

To this, we added two things:

(a) Velocity PID control of CAN-based black Jaguars (for traction control, which could come in handy this year). We note that mecanum is sensitive to weight distribution, and a velocity PID is very useful to help deal with this issue. You can disable this if you want.

(b) integration with the nav6 IMU for a field-oriented drive that exhibits superior accuracy (typically, yaw drift of about 2.5 degrees over a 2:30 minute period, the FRC match length). Like the ai-robotics code, you can disable this if you want, too.

The java code for this is available online. See the Drive.java file.

You might also find the "AutoDrive.java" and "StickDrive.java" files useful, they're up one directory, then down into the "commands" directory. The StickDrive implements a set of joystick response curves we've found useful.

Team 2465 partnered with Kauai Labs to design the new open-source navX MXP Robotics Navigation Sensor. The navX MXP is compatible w/the nav6, so you should be able to use either board with this code. Alternatively, the kit of parts gyro can be integrated into it, although we find the nav6/navX provides greater accuracy.

There are a few tuning parameters (the robot wheel base and the wheel diameter). We've tested this on both 6-inch and 8-inch Andymark mecanum wheels, on both square-shaped and rectangular chassis. Our favorite configuration is a rectangular chassis with 8-inch wheels. This has enough pushing power to push one of the adult mentors sitting in a chair (the chair doesn't have wheels) across a carpeted floor.

This code is for the CRio; We haven't yet ported this to the RoboRio, but we'll be posting the ported code soon.

Aloha,

- scott

[Hoffer5236]

What is the best layout for the drive base? My team is working with a modified KOP drive base in the long configuration. We chose this with the thinking that it will be easier to balance weight with the forklift collector we are currently planning on using. But, we do not have enough experience in mecanum to know how this will affect the wheels. Should we revert to a square drive base and figure out the weight distribution? How will a long drive base affect strafing?

[Monochron]

Originally Posted by Mr. Mike

If a robot is designed with the wheels set square at 22 inches and the weight is equal on all wheels. What happens when you load one side with 24 pounds (3 totes) cantilevered out the long way of the totes (fork lift style)? Will it still strafe? Hard to turn?

Mr. Mike

I think this is one of the more important questions to be answered about Mecanum drives this year. I also imagine it will be very hard to predict or calculate before actually testing.

Can any teams with Mecanum experience give an idea as to how "off" control would be if heavily weighted on one side?

[Mr. Mike]

Would control of a "H" drive handle an off center load better than mecanum?

Mr. Mike