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Unread 10-05-2005, 22:51
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Re: pic: Jester Drive:Mecanum Wheel Drive Train

Quote:
Originally Posted by Alex357
Controlling an omni wheel is much different than controlling a mecanum wheel. Since the rollers are perpendicular on omni-wheels, the direction produced has almost no similarities with controlling mecanum wheel motion, which depends on the rotation and speed of each individual wheel.

As BrianBSL said, its exactly the same. Mechanum wheels have rollers at 45 degree angles, for the omni holonomic drove you put the entire wheel at 45 degrees. There are slight differences but its still the same.

Quote:
Originally Posted by BrianBSD
This is how we prototyped the code for our field relative drive and found that we needed to have the split in the chassis to have equal wheel pressure.
We shimed our wheels so that all the wheels are touchign at the same time. Also we have encoders on everywheel to track how fast each wheel goes. We had a suspension of sorts on our mini bot we prototyped on last year and found it wasnt super important since the field is relatively flat.
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Last edited by Andrew Rudolph : 10-05-2005 at 22:53.
 


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