pic: Omnibot

[Andrew Schreiber]

Originally Posted by EricH

And rotate independently... No wonder the code took so much space in the controller.

Back on topic: If you're going to do 3WD, plan it out first. Carefully. As noted, only one robot (to our knowledge) has had a 3WD omni system; most of the other 3WDs were crab/swerve systems.

Also, the one robot that did a 3 wheeled omni (857) didn't use code to control their wheels, they used hardware (http://www.chiefdelphi.com/media/photos/16410) Dont forget that sometimes that solution works better than complex code. No reason to make the code more complex than it needs to be. Could it be done in code? Yes, is complex code always better? That is up to you.