Mec wheel help

[Mr. 1033]

I was wondering if anyone could point me to some basic, working C++ mecanum drive code. We have successfully compiled and deployed code using the cartesian and polar mecanum drive methods, but our robot behaves in unexpected ways when we try to run the code in teleop.

First, the robot's wheels start moving before the joystick is even touched by the drivers. Then, when they do push forward and back and left and right on the joystick, is seems to have no effect on the drive train.

We're using the 3 D joystick.

We aren't sure if we are sending bad values in the code, or if we have hardware or wiring issues.

[Note: the robot ran fine using robot drive code with one joystick in arcade mode, so we're stumped.]

Any help would be greatly appreciated.

[Ether]

Originally Posted by Mr. 1033

We have successfully compiled and deployed code using the cartesian and polar mecanum drive methods, but our robot behaves in unexpected ways when we try to run the code in teleop.

...

[Note: the robot ran fine using robot drive code with one joystick in arcade mode, so we're stumped.]

Was the only difference between the red and green the mec vs arcade drive code? Or are there other differences (even non-drivetrain-related code)?

[Alan Anderson]

Originally Posted by Mr. 1033

Any help would be greatly appreciated.

We don't have much to base our help on. Show us your drive code and we'll be happy to suggest things to look at.

That your motors move before you tell them to is worrisome. I would suspect a wiring issue, except that you say it worked with Arcade Drive.

[Halo_Kid_3633]

We are having the same issues.

[Toa Circuit]

Sounds like:
Bad joysticks
or
Joysticks being moved before plugged in (When you plug in a joystick, most axes home themselves upon power on).

[TheVoid]

Hi there, just in case:
What sort of motor driver setup are you using? Is it closed loop? (If so, did you change anything about that too?)

As well, could it be that something besides your drive code is trying to set your motor controllers?

Finally, if you put the robot into any other enabled mode than Tele-operated, does this behavior show up? ( I suppose you would want to use Test mode for this )