Encoders on mecanum drive?

[dougwilliams]

Originally Posted by Ether

A caster looks like this. It is neither X nor Y. See post8 in this thread.

Sorry, poor choice of language. I assume for full field localization, the poster was implying placing 2 individual casters, one oriented in X direction, and one placed orthogonal, in what they assume to be a Y direction.

Then you have one dragging caster at all times, or you go the mouse ball route. Even with the mouse ball, you still need to track rotation, as the mouse operates on the assumption of having the same general yaw position on a persons desk.