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Unread 22-10-2010, 13:02
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Ether Ether is offline
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Re: Chainless Mecanum Drive

Quote:
Originally Posted by JesseK View Post
For robot-centric steering, it is that simple. For field-centric steering (where pushing away on the joystick moves the robot away from the driver's station regardless of robot orientation) it can get quite complex.
It's a bit more work, but not at all complex.

And it's no more complex for mecanum than it is for nonadrive.

To do field-centric control, you must know the angle of the robot with respect to the field (using a gyro for example).

Use this angle to do a 2D coordinate rotation on the joystick X and Y inputs* . Then use these rotated values (plus the unmodified Z joystick value*) as inputs to your robot-centric code.


*assuming X and Y represent the strafe and fwd/rev commands, and Z represents the spin command






Last edited by Ether : 22-10-2010 at 14:14.
 


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