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Re: ADXRS450 Straight Drive Not Working
We did mecanum code back in 2014, so I am not familiar with using it on the new gyro. However, unless you get better advice, the first thing I would try would be to remove the negative from the gyro input to mecanumDrive_Cartesian(). If your gyro input is of the incorrect sign (or moves rapidly in one direction independently of what is going on), this will cause a high-speed spin as the drive pushes farther and faster away from the desired set point.
Do you have trouble driving straight manually? When we implemented this in 2014 with 6 inch wheels, drivers were able to quickly adapt even to our prototype robot, which had about 6x as much weight on the right rear wheel as on the front left. (That prototype is the only team robot I drove for more than an hour, and it took me less than a minute to compensate for the pull.) If straight driving is difficult for people, you probably have some significant physical problem, whether swapped gearboxes or a gearbox which is not rotating freely. Having some of the roller bolts so tight so that they do not rotate freely might also cause this issue.
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