Inverting Axis

[Ether]

Originally Posted by GeeTwo

For an example where the simpler code is not easier to read:

Logically, you want to do a conditional:

if (c is between a and b, and you don't know whether a is larger or smaller than b) then...

Human simpler (use this!):

if ((a<b) && (b<c) || (a>b) && (b>c)) then..

Probably machine quicker, but don't use:

if ((a-b)*(b-c) > 0) then..

Either your code is wrong, or your prose description is.

I guess neither is simpler.

[GeeTwo]

I swapped b and c between the two. Let's correct the prose. I meant to say that b was between a and c, and you didn't know whether a or c were larger.

[2386programming]

 double strafe = mainStick.getRawAxis(3);
         double forward = mainStick.getRawAxis(1);
         double rotation = mainStick.getRawAxis(2);


//mecanum algotrithms
        double mFL = strafe + forward + rotation;
        double mFR = strafe + forward - rotation;
        double mRL = strafe - forward + rotation;
        double mRR = strafe - forward - rotation;

        FL.set(mFL);
        FR.set(mFR);
        RL.set(mRL);
        RR.set(mRR);

This is my code for regular driving for mecanum but I feel that if I inverted the motot not everything else would be the same.

[Ether]

Originally Posted by 2386programming

        double mFL = strafe + forward + rotation;
        double mFR = strafe + forward - rotation;
        double mRL = strafe - forward + rotation;
        double mRR = strafe - forward - rotation;

This is my code for regular driving for mecanum but I feel that if I inverted the motor not everything else would be the same.

The correct inverse kinematics for mecanum is:

double mFL = forward - strafeRight  - rotateClockwise;
double mFR = forward + strafeRight  + rotateClockwise;
double mRL = forward - strafeRight  + rotateClockwise;
double mRR = forward + strafeRight  - rotateClockwise;

If the above doesn't work, it's better to do the necessary motor inverting/swapping to make it work, rather than changing the signs of the kinematics.