Mecanum vs DifferentialDrive Odometry

Hey, I was looking at DifferentialDriveOdometry (here)
and MecanumDriveOdometryhere
And I noticed that their update methods are different in concept : one takes in the Positions of the left and right halves of the drive train, while the other takes in the speeds of each of the 4 Mecanum wheels. Why is it that one takes in position, and the other takes in speed?

Position deltas are more accurate for odometry, but there wasn’t an obvious way to name the wheel structs for mecanum or swerve, so we did velocities for them instead.

This topic was automatically closed 365 days after the last reply. New replies are no longer allowed.