MECANUM WHEELS PROGRAMING

[slavik262]

I'd assume that GetTwist() gets the z-axis value, which for the KOP joysticks is the throttle at the bottom of it.

Also, this thread is from a year ago, but I created a custom joystick class for use in omni-directional drive trains:

http://www.chiefdelphi.com/forums/sh...ad.php?t=70468

Correct me if I'm wrong, but I believe GetMagnitude() just takes the square root of the squares of the x and y factors of the joystick to get its value (the Pythagorean Theorem approach). This is flawed in that due to special right triangles, sticking the joystick in the corner of its field of motion will generate a magnitude sqrt(2) larger than sticking the joystick all the way to a side. I created my own algorithm which "normalizes" the magnitude of the joystick vector so that it has a max value of 1 all the way around its bounds. Details are in the linked thread.

I wrote the OmniJoystick class before I knew about function overloading and inheritence, so to make life simpler you can change GetAngle() and GetR() in the my code to GetMagnitude() and GetDirectionDegrees() if you'd rather use the "official" function names.