H-Drive Programming

[Andrew Schreiber]

Originally Posted by landinw

Thanks for the reply.

We will have a 3-axis joystick available. Guidance we have is that going forward/backward (y-axis) the corner wheels would do the driving, going left/right (x-axis) the cross wheels would do the driving and turning in place (z-axis) the motors would work together to "twist" the bot. We'll be using CIMs, but don't have info on gearing.

We're just getting started dissecting this problem but thought I'd reach out to see what others with experience had to say.

Thanks again.

https://gist.github.com/schreiaj/c3356a23dc3a8e33c574 Code that I put together as a general solution to omni drives, it works for H drive as is. Code has been tested using a chassis weighted to 100lbs. It drifts (correct with Gyro) but does correct things.

Math's based on this paper (http://people.idsia.ch/~foerster/200...t_preprint.pdf)