Programs to help new programmers learn holonomic drive

FIRST
#1

Hello,
We are new to the programming language and would love to have some help starting the year off. we are hoping to have some help with four wheel 1:12 ratio holonomic drive, we use java on WPIlib.
Any information would be appreciated.
Sincerely,
Team 1596

#2

Holonomic is a style if drive controls, not so much a specific drive train design. Which are you using? Some common examples include swerve, Mecanum, and Omni wheels.

The specific guidance provided will require more information on the drivetrain specifics.

Also, I assume the 1:12 ratio given is actually 12:1. 1:12 would be a step up (wheel 12x faster than motor speed), so you’d have insane speed and no torque in your drivetrain.

3 Likes
#3

we are using a Mecanum drivetrain with a 12:1 transmission, each wheel is directly connected to the transmission which in turn is connected to a NEO Brushless motor.

#4

Kettering University has multiple free, online videos for FRC teams. This includes Java 1 and Java 2 how to videos. Just click the link, complete the form and you’ll have access to all the videos. Be sure to save your login so you can continue to access the library of videos.
FRC Technical and Team Management Video Library

#5

Here are some additional resources (Beware that these haven’t been updated for 2022, so you have to change stuff like SpeedController to MotorController):

For API: https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/wpilibj/drive/MecanumDrive.html

wpilib example: https://github.com/wpilibsuite/allwpilib/blob/main/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java

And a general good resource for Electrical and Programming is the WPILib docs, which includes using kinematics and odometry for Mecanum if you want to go further: https://docs.wpilib.org/en/stable/index.html

Hope it helps! Also, whenever you get stumped, there are tons of tMecanum code by different teams on Github, so I would take a look at that as well.