Programming Mecanum

[omalleyj]

Do you need to set the motors on one side inverted? When we first just tried we noticed the wheels on one side were reversed and we needed to add:

setInvertedMotor(RobotDrive.MotorType motor, boolean isInverted)

[Robototes2412]

Can someone please post the java scource code for the holonomicDrive Function?

[BradAMiller]

Originally Posted by Robototes2412

Can someone please post the java scource code for the holonomicDrive Function?

The code is posted below, but anyone with Java can simply look at the source code by opening the project that comes with the distribution:

    public void holonomicDrive(double magnitude, double direction, double rotation) {
        double frontLeftSpeed, rearLeftSpeed, frontRightSpeed, rearRightSpeed;
        magnitude = limit(magnitude);
        double cosD = Math.cos((direction + 45.0) * 3.14159 / 180.0);
        double sinD = Math.cos((direction - 45.0) * 3.14159 / 180.0);
        frontLeftSpeed = limit((sinD * magnitude + rotation));
        rearLeftSpeed = limit((cosD * magnitude + rotation));
        frontRightSpeed = limit((cosD * magnitude - rotation));
        rearRightSpeed = limit((sinD * magnitude - rotation));

        m_frontLeftMotor.set(frontLeftSpeed * m_invertedMotors[MotorType.kFrontLeft_val]);
        m_frontRightMotor.set(frontRightSpeed * m_invertedMotors[MotorType.kFrontRight_val]);
        m_rearLeftMotor.set(rearLeftSpeed * m_invertedMotors[MotorType.kRearLeft_val]);
        m_rearRightMotor.set(rearRightSpeed * m_invertedMotors[MotorType.kRearRight_val]);
    }