Mechanum wheel programming in C++

[johncap100]

Originally Posted by jhersh

Our team used the 3D Pro to drive a mecanum bot last year and it was very natural. The kids picked up how to control it very quickly.

so Joe would you have an example of code we might use just to see how we might drive our bot? I have some kids who can program but they are just starting out and it would help alot if we had some code we knew worked and then could build on it

Did you use two joysticks?

thanks John

[ChiefDelphi]

Yes, It would be extremely helpful if the sample C++ Code for Mechanum Wheels is provided with a good explaination

Thanks

[jhersh]

Originally Posted by johncap100

so Joe would you have an example of code we might use just to see how we might drive our bot? I have some kids who can program but they are just starting out and it would help alot if we had some code we knew worked and then could build on it

I've attached an example. It's based on the IterativeRobot base class but could be moved to SimpleRobot (by just putting a loop around the Drive method).

Originally Posted by johncap100

Did you use two joysticks?

Nope. Just one Extreme 3D Pro.

-Joe

[ChiefDelphi]

Originally Posted by jhersh

I've attached an example. It's based on the IterativeRobot base class but could be moved to SimpleRobot (by just putting a loop around the Drive method).

Wow, the Example is well detailed and easy to understand. But the question is does this code move the robot or its given for example purpose?


Thanks

[jhersh]

Originally Posted by ChiefDelphi

Wow, the Example is well detailed and easy to understand. But the question is does this code move the robot or its given for example purpose?

While I haven't tested it out, I believe it should move the robot if all mechanical and wiring is correct.

-Joe

[johncap100]

Originally Posted by jhersh

I've attached an example. It's based on the IterativeRobot base class but could be moved to SimpleRobot (by just putting a loop around the Drive method).



Nope. Just one Extreme 3D Pro.

-Joe

Thanks Joe will give it a try
John

[Micah Chetrit]

Ok, I am really new to C++, we are using the SimpleRobot class. can help me out by telling me what kind of a loop I put around it (MecanumDefaultCode.cpp) and some details like that. Do I need a .h file to go with it? What else do I need to add to make it work with the default sample code? by the way, does anyone know of a tutorial that explains how to use most/all of the WPI Library commands? I don't know how to use hardly any of them. this is my first year coding and all of the programmers graduated last year so I'm looking for any possible help.

[CodeMonkeyMatt]

Most likely, you would want to put the mecanum code inside of the "while(IsOperatorControl())" loop of the OperatorControl function of the SimpleRobot class. Also, I believe the code would change slightly as the SimpleRobot template uses different variable names, and does not use pointers. (I don't have our classmate in front of me, so someone correct my code if I'm mistaken)

while(IsOperatorControl())
{
myRobot.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(), stick.GetTwist());
...

This is a good document for getting started in C++ and making sure that Windriver is properly set up (which you may or may not need).
http://firstforge.wpi.edu/sf/docman/...tation/doc1197

While I haven't looked through this very much yet, this should document most, if not all the WPILib classes with examples of using them. It is written for both Java and C++, so make sure you don't get the code mixed up.
http://firstforge.wpi.edu/sf/docman/...tation/doc1196

[jyaple]

Would you be able to program/run it with only a two axis joystick? My team wants to run this years bot as a CO-OP and have two joysticks with one Logictech controller for the shooter/loader system.

[Ether]

Originally Posted by jyaple

Would you be able to program/run it with only a two axis joystick? My team wants to run this years bot as a CO-OP and have two joysticks with one Logictech controller for the shooter/loader system.

You can use whatever operator interface you like.

How are you planning to take advantage of the 3 degrees of freedom of a mec drivetrain using only one 2-axis joystick? Changing modes with a button perhaps??

WPILib has code for mecanum.

[johncap100]

So Joe I downloaded your code and am trying to get it to build in Windriver.
Sorry but myself and the kids are just getting familiar with Windriver. I opened it but it would build. Any suggestions?

thanks John

Originally Posted by jhersh

I've attached an example. It's based on the IterativeRobot base class but could be moved to SimpleRobot (by just putting a loop around the Drive method).



Nope. Just one Extreme 3D Pro.

-Joe