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 Author: kaleblange [ Fri Nov 08, 2013 5:35 pm ] Post subject: Mechanum Wheels Programing My team is trying to use the mechanum whells on our robot. We need help as we have figured out there is special programing. What is that special programing?Kaleb LangeTeam 3281TechstormYork, PA

Author:  MHTS [ Fri Nov 08, 2013 7:40 pm ]
Post subject:  Re: Mechanum Wheels Programing

An excerpt from our library:
 Code:void DriveMecanumCartesian(    DRIVE &drive,    int x,    int y,    int rot    ){    if (drive.flags & DRIVEF_FOUR_MOTORS)    {        int mag, maxMag, i;        drive.motorPowers[IDX_FRONT_LEFT] = x + y + rot;        drive.motorPowers[IDX_FRONT_RIGHT] = -x + y - rot;        drive.motorPowers[IDX_REAR_LEFT] = -x + y + rot;        drive.motorPowers[IDX_REAR_RIGHT] = x + y - rot;        //        // Normalize        //        maxMag = abs(drive.motorPowers[0]);        for (i = 1; i < MAX_NUM_MOTORS; i++)        {            mag = abs(drive.motorPowers[i]);            if (mag > maxMag)            {                maxMag = mag;            }        }        if (maxMag > MOTOR_MAX_VALUE)        {            for (i = 0; i < MAX_NUM_MOTORS; i++)            {                drive.motorPowers[i] =                    (drive.motorPowers[i]*MOTOR_MAX_VALUE)/maxMag;            }        }    }    else    {        //        // Mecanum drive is only possible with 4 motors. For 2 motors, we        // do arcade drive instead.        //        DriveArcade(drive, y, rot);    }    drive.flags |= DRIVEF_ON;}

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