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  #16   Spotlight this post!  
Unread 06-02-2015, 11:02
jls667 jls667 is offline
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Re: Mecanum drive cartesian problems

I am using the wpilib library and robotdrive. I believe that I have to reset the gyro and use getangle.
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  #17   Spotlight this post!  
Unread 06-02-2015, 11:25
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Re: Mecanum drive cartesian problems

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Originally Posted by jls667 View Post
I am using the wpilib library and robotdrive. I believe that I have to reset the gyro and use getangle.
We got our Mecanum Drivetrain Code working in field coordinates in December; click for the code on github. This is based on cRIO, but shouldn't need too much tweaking. This is built on the command based robot model.
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Unread 06-02-2015, 13:09
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Re: Mecanum drive cartesian problems

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Originally Posted by GeeTwo View Post
We got our Mecanum Drivetrain Code working in field coordinates in December; click for the code on github. This is based on cRIO, but shouldn't need too much tweaking. This is built on the command based robot model.
Out of curiosity, why do you drive at 70% joystick readings in cartesian mode but full power in Polar mode?

Is there a purpose to Polar/Cartesian switch? Isn't calling cartesian with gyro-angle==0 equivalent to to calling Polar? Perhaps it is meant to switch between field-centric and robot-centric?

Not sure the CommandBase class will work in this year's lib so it may not just be load/go. Also, I think atan2 is on Math now, not MathUtils because we have proper java this year, so those are the obvious tweaks I see that will be necessary

Last edited by cstelter : 06-02-2015 at 13:44.
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Unread 06-02-2015, 14:48
jls667 jls667 is offline
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Re: Mecanum drive cartesian problems

I am having trouble finding the java code mentioned by GeeTwo.
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Unread 06-02-2015, 15:39
cstelter cstelter is offline
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Re: Mecanum drive cartesian problems

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Originally Posted by jls667 View Post
I am having trouble finding the java code mentioned by GeeTwo.
Does this work better for you?
https://github.com/frc3946/MecanumDr...libj/templates
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Unread 06-02-2015, 21:12
jls667 jls667 is offline
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Re: Mecanum drive cartesian problems

Thank you. That helps.
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