I’m not sure what this would actually be called so sorry if this question has already been brought up and I just didn’t know what to search for. One of the issues with the mecanum is drive is that it’s not intuitive like a tank or arcade drive. To fix this, I wanted to be able to move based on where…

If you know a little trig with a gyro it’s not that bad. The problem with a mecanum drive is the the wheels don’t go to the side as fast as they go forward or backward. With an X drive this would be much easier. For the rotation alone it’s something like: x’ = x cos(gyro) + y sin(gyro) y’ = x s…

Another route for this is to look at odometry, 5225a has a great document and code release about it. It vex shaft encoders to track the robots exact position and angle on the field. This can be useful for both autonomous and driver control. Word of warning this and the method above, they are impact…

Odometery is used for the exact reason of being able to stay on path despite obstacles, the robot is able to tell its orientation and distance relative to the starting point. Edit: In driver the contact is far too heavy, in autonomous it will work fine if written well

if you do this, you probably will have to recalibrate it quite often. it may be impractical this season with heavy defense and bumping into a bunch of cubes and towers and whatnot.

One more quick comment on strafing drives, they shouldn’t be as hard to drive as you think with practice. I used to fly rc helicopters, which uses a similar control scheme to this type of drive. Use your left joystick to go front/back and left/right and use the right left/right axis for turning. Thi…

The hardest step is creating a drive system that preserves directionality of the joystick inputs. Before worrying about the field orientation, you have to come up with a system where pushing the joystick at a certain angle from center will make the robot move away from its center at the same angle. …

One methodology has a square domain, and the other has a rounder (but not circular!) domain. There’s a few ways to deal with the non-square, not-quite-circular domain. Do you mean that there is a mathematical way to alter the domain from round to square or do you mean that by making sections of t…

The domains I was talking about were the possible joystick axis values. Using two different sticks produces a square graph of possible X’s and Y’s, but using just one stick produces something that’s rounder than a square but not-quite a circle. Nothing involving a deadband here. That should be done …

[image] invalidflaw: Word of warning this and the method above, they are impact sensitive. If the bot gets bumped, it won’t have a correct “forward” more than likely. A accelerometer could probably provide enough data to know when the bot is bumped. So if the accelerometer detects a large eno…

Driver position based mecanum drive

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I believe this is called Field-Centric Drive - I’m sure searching for that may help with finding what you need. Maybe even look at resources from other competitions such as FRC or FTC.

Hope this helps!