Quote:
Originally Posted by Ether
Code:
wheel1 = STR + ωR
wheel2 = - FWDcos30 + STRcos60 + ωR
wheel3 = - FWDcos30 - STRcos60 + ωR
wheel4 = - STR + ωR
wheel5 = FWDcos30 - STRcos60 + ωR
wheel6 = FWDcos30 + STRcos60 + ωR
(Then divide all wheel speeds by the maximum one if any one exceeds the maximum achievable wheel speed) |
I hadn't thought of doing it this way. I had just assumed that "Forward" would be a point of the hexagon moving forward utilizing all six wheels when going forward, instead of just four using this setup. Even still, this all makes more sense now.
It’s not that we don’t have the time to teach first principals; it’s more that we (FIRST) don’t need to. - Jack Jones [more] 
29-05-2016, 10:13
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