paper: WPILib Mecanum Control Algorithm Comparison

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WPILib Mecanum Control Algorithm Comparison
by: JonA

Compares the 2010 WPILib Mecanum Control Algorithm to the updates made in the 2011 WPILib Mecanum Control Algorithm.

To better understand the changes to the WPILib Mecanum Control Algorithm I created this document to show the differences in output curves based on the inputs and the behavior of each as they approach the maximum output speed of the motors. The bottom line: the 2011 WPILib Mecanum Control Algorithm provides a higher maximum robot speed than the 2010 version and also maintains the relationship between each motor as they approach maximum speed output to maintain holonomic control.

WPILib Mecanum Control Algorithm Comparison.pdf (497 KB)