Killough platforms (A.K.A Holonomic/kiwi drive)

[Greg Ross]

Originally Posted by MattB703

In my dream of a 4 wheeled Killough drive bot I was going to turn the handle of a joystick to 45° from the base of the joystick. If you push the joystick strait up you get full + X and full + Y. You can map the drive motors directly to the joystick values in such a way that the bot moves in the direction that the joystick is pressed.

I did this last year. It worked, but I couldn't get used to the way the joystick felt in my hand. I had a hard time moving the stick along the diagonal when going straight forward and reverse.

You would also need a rotary pot to control the rotation of the bot.

I used the joystick thumb wheel for this (NOT the trim wheel!). Again, it worked, but I didn't like it because it didn't self center when released.