Quote:
Originally Posted by vrcprogrammer
This all looks great, how would you recommend using a gyro with the three follower wheels.
Thanks
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Well first of all, what is your issue with simply putting encoders on all four of your wheels? If you are going for the X/killough/omni/whateveryouwishtocalllit drive you already have TWO sets of "mouse wheels". Theyre your drive wheels! Even without the gyro you can get rotational odometry. (I have tried this when we were prototyping swerve code on a vex base and it wasn't all too terrible. A gyro is still better, but odometry can determine your angle)
Ether's papers on controlling an omnidirectional drive apply in the reverse direction in order to find your movement based on encoders.
... the team that *DOESN'T* design things in the offseason for prototyping and testing will always be at a much bigger disadvantage. - Cory [more] 
30-04-2015, 22:56
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