Re: Omni dtrectional drive system

Gwinter,

It is really important you understand the underlying math of an omniwheeled system. It's not terribly complex but it really makes things easier. I have a somewhat working omniwheeled robot that I am working on at the moment. It uses 3 wheels instead of the 4 you want.

This is the code I have:

For any given wheel, the speed it needs to turn at is :

Vw = Vb (cos Aw * cos At + sin Aw * sin At)

Vw = speed of the wheel

Vb = speed of the robot's body

Aw = the angle of the wheel on the body

At = the angle at which the body is travelling

So for a robot with 3 wheels (at 0, 120 and 240 degrees around the body), like my example, you get the following formulae:

Sometimes a term will disappear from the calculations because it's 0, sometimes it's simplified because it's 1. You need to figure out what angles your wheels are at and create the formulae for your Vw1, Vw2, Vw3 and Vw4.

I am not going to give you the answers, you have all the information here for a robot with 3 and a generic formula.

You need to figure out why I have the following code:

Good luck, if you have more questions, don't hesitate to ask, but don't ask me to write out the formulae for the 4 wheels, you should be able to do that yourself.

Regards,

Xander

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