Spinning the Robot with Mecanum Wheels

[Ether]

Originally Posted by craigboez

For wheels mounted in the correct configuration, I don't think that it's possible to rotate a bot about center if they are mounted in a square configuration.

Two "RH" and two "LH" wheels, mounted in an "O" configuration, cannot seem to create a moment about the center of a square bot).

The correct configuration is a "X" configuration when viewed from the top of the bot, which is the same as an "O" configuration when viewed from the bottom of the bot. In other words, if you have a bot with the wheels mounted in an "X" configuration when viewed from the top, and you tip the bot on its side and view it from the bottom, it will appear as an "O" configuration.

If your wheel configuration looks like an "O" when viewed from the TOP, it is not the correct configuration, and the bot will not spin properly.


For those of you new to this discussion, here's what we mean by "X" and "O" configurations:

"X" configuration:

\..../
......
......
/....\


"O" configuration:

/....\
.......
.......
\..../




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