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Unread 02-02-2017, 14:42
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Re: Most Graceful Mecanum Robots?

Quote:
Originally Posted by Ari423 View Post
With a bit of feedback control, you should be able to assign a button on the controller to "sprint mode" where driving is still field-centric, but the robot always drives with the front forward. I haven't tried it before, but that should give you the sprinting speed of robot-centric with the ease of control of field-centric.
This, only I think it'd be better to have it pick the closest of forwards/backwards. Or maybe have that toggleable. It should be straightforward to implement. Hold down the print button, lock out rotation input, apply fixed amount of rotation command CW or CCW in direction of travel based on commanded vector and your current heading. Probably scale it down once you get very close to the correct heading, but capping it to a reasonable amount would probably make driving more stable for large corrections.

Field centric tank drive implemented in this fashion would be an interesting innovation.
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