Mecanum Drive control

[AriMindell]

Originally Posted by TylerHarmon

Mecanum wheels slip, which completely destroys the value/quality of the ticks that your encoder returns. How many times a mecanum wheel turns cannot directly be translated into distance. Again, don't try to use encoders it will not work.

So I agree with this assertion for trying to determine the position of the robot using encoders, but what I meant was using encoders to ensure that all of the motors are actually spinning the same speed (rather than just recieving the same voltage) for this, I think encoders can be adequate, since slipping does not come into play between the motor and the wheel, only later.

In other words, there is very little error in the encoder reading of the wheel angle relative to the robot (maybe some backlash in the gearbox) however I agree that there is a large amount of error in the encoder reading of the robot position relative to the field. Correct me if I'm wrong, but I think that since we are looking to use the first one, encoders are acceptable.