An interesting idea I had:
http://web.mit.edu/first/www/semiOLcontrol.pdf
Should give a non-drifting absolute heading. The trig for rotating frame of reference is done off-board to save processor time, sent as analog signals of the sin and cos. This way, all the math done on the RC is straight multiplication.
It looks closed-loop, but it's actually more of an open-loop controller, in that you still trust the Mecanum algorithm to do what it is supposed to do. So, proper weight balance and such still important. The only direct feedback is to cancel out undesired rotation, which seems to be the biggest problem with Mecanum drive.
Feasible? I know I've seen field-oriented drive before. Any tips? Anyone tried something similar with success?
__________________
MIT Mechanical Engineering
>> College Mentor,
Team 97: Cambridge Rindge and Latin School with The Edgerton Center, MIT Mechanical Engineering, Bluefin Robotics, and Draper Laboratory
>> Alumnus, Team 527: Plainedge HS
I am a geek because of FIRST! Seriously, I was reeaalllllyyy boring before robotics. Not mechanically inclined at all. Now I love it! - Éowyn [more] 
Similar Threads
Threaded Mode