Feb 22, 2024 · There’s also some pretty good description (including both Blocks and OnBotJava examples) in Game Manual 0. Perhaps take a look at Mecanum TeleOp - Game Manual 0 for an explanation of how mecanum works and ways to code it.

After setting the direction of the motors, you need to set variables for the power for each wheel. This value needs to be between -1 and 1. The part of the code where the power is actually supplied to the motors takes place in a while loop.

Nov 19, 2020 · Just writing out the power values for each wheel in regards to joystick position made it very easy to write an equation for each wheel. Just don't necessarily copy this code - this may be for standard omni wheels, although the method works for both.

The following code uses field-centric drive code to control the mecanum wheels, not the robot-centric code used above. To gain a solid understanding of field-centric driving please refer to the GM0 link in the resources tab of this module.

Set those wheels to full power, and the others to 0. That will cause the robot to go forward and left. In this way, we can use different combinations of wheel power to make the robot move in any direction.

The Mecanum Drive allows the robot to move forward, backward, and strafe. This is possible due to the nature of the wheels, which slip because of the rollers on them. They will naturally travel in a 45 degree motion in the direction that the entire wheel is rotating.

Oct 31, 2016 · public double wheelSpeed(double Vd, double Td, double Vt, String wheel) { double V = 0; if (wheel == "LF" || wheel == "RR") { V = Vd * Math.sin(Td + (Math.PI / 4)) + Vt; } if (wheel == "RF" || wheel == "LR") { V = Vd * Math.cos(Td + (Math.PI / 4)) + Vt; } return V; }

The main class (ServeMath) contains the methods that would take a drive command input (e.g. Joystick commands) and respond with a drive directive - the speed and angle to set on each drive wheel. This code is not driving the robot - it is simply performing the calculations needed.

Sep 29, 2014 · I currently have some code developed to read the encoder values, but I am unsure of how to change the speeds of the wheels based off of these values. Here is what I would like to do: I would like to use 1 wheel and call it the master …

Using the following will drive the robot at a power proportional to the distance between the robot position and the target position