Programming for Mecanum Wheel Chassis

[yank]

Originally Posted by Ether

Put the bot up on blocks and tell us what each wheel is doing when you give a pure strafe command.

Also, post a bird's-eye (or worm's eye) picture of the bot so we can see how the 4 mec wheels are mounted.

Pictures

The "top view" picture shows our robot from earlier this week when we put the wheels on. We have not moved the wheels at all, but we did change the gear ratio (originally geared for speed, now geared for torque, as seen in the "full bot" picture)

Unfortunately I don't have a video of the bot on blocks, but the wheels turn erratically (the reason we suspect it's a programming issue).

We did do some tests earlier with another program although we still had our old speed gear ratio at that point. The wheels spun as they were supposed to (left side wheels spinning towards each other, right side wheels spinning away from each other, and vice-versa for strafing in the other direction), but the robot moved diagonally (when we tried left strafe, it moved forward diagonally to the left, when we tried right strafe, it moved forward diagonally to the right. We thought that our robot did not have enough torque to strafe properly, so we changed the gear ratio to what it is now.

Was our conjecture about torque a valid one?

Thanks for your help!