MECANUM WHEELS PROGRAMING

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MECANUM WHEELS PROGRAMING

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#13

29-01-2010, 01:10

oddjob

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Re: MECANUM WHEELS PROGRAMING

Great work! Except now our robot won't have a power and pushing advantage over the other mecanum's using HolonomicDrive, LOL.

Quote:

Originally Posted by jhersh

Here is the change list description:

+ Add a Cartesian implementation of the mecanum drive method.
* Clean up the expressions in the polar mecanum drive method.
* Replace the saturation approach with a normalization to prevent inconsistent wheel speed ratios.
* Scale the magnitude by sqrt(2) to get full power along the axes.

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