I want to implement the new trajectory following features to our mecanum bot and get a deeper understanding of how this whole “trajectory magic” works.
However, after I have viewed “A Deep Dive to Trajectories With WPILib’20” and “Zero to Trajectory Tracking” by 5190, I still had questions about the mecanum side of these. (Both of these tutorials are pretty amazing for beginners like me!) One of these tutorials said that Ramsete Controller is not applicable for Holonomic drivetrains. (I will still try to implement a simple trajectory with a differential constructor and a mecanum chassis but I would love the extra maneuverability of mecanum.)
I wanted to learn how I could implement such a controller for a mecanum drivetrain. Is there anyone on CD who tried it and can share their experience? Or could you direct me in any way that has documentation about this or example code to examine? (I could not see how mecanum odometry can be used with the ramsete controller on the wpilib docs but if there is something I am missing, I would really appreciate it.)