Encoders on mecanum drive?

[gpetilli]

Originally Posted by IronicDeadBird

Not sure if this is a thing because google searching on my phone is all sorts of awful. Looking at past technology I know we can measure movements on a captive ball system (you all remember those funny mice with the little grey ball on it) or even more recently high end gaming mice. Is anyone aware of these sort of devices being used in the FRC world?

I know one team at the Fingerlakes Regional about 5 years ago won the Innovation in Control award for using a mouse for movement sensing. The last we looked at trying this, the modern mice were too precise (6000 pulses per inch) and the cRIO could not handle the pulse rate.

What we did last year and intend to do again this year is to use two smaller omni-wheels (VEX 2.75in) with encoders mounted orthogonally square to the frame. They directly measure the actual motion, not the intended, wheel slip free, motion. The important thing is to ensure the un-powered follower wheels are always in contact with the floor.