Field centric controls for xdrive

[Aleksandr]

Hi, I’m trying to create our own field centric controls for our xdrive. It’s our first time trying this kind of controls and have found that field centric controls are a good choice for xdrives and holonomic drives, basing from ftc builds. but don’t know where to start. any ideas how to establish this kind of controls? We’re using inertial sensor for this.

[jpearman]

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V5 field centric mecanum code

There have been a few requests for field centric X-drive code in the past couple of weeks. I’ve linked to an old RobotC example, but I revised that code today for my demo drivetrain and pushed out to github. My drive uses 8 motors, but it should be easy to revise the code for four. Obviously, it needs a V5 Inertial sensor to run. project is here.

[Aleksandr]

thank you very much for this, really. But if were to use this on xdrive where wheels and motors are angled at 45 degrees, then I would need to adjust the math to accommodate the change?

[J.4]

I’m pretty sure they would be the same for driving. But autonomous-wise, yes, I fear that it will be different. For example,

X-drive distance would be about \frac{1}{\sqrt{2}} times the distance a mecanum would drive, and when turning, I’m pretty sure X is more efficient, but I’m not sure how much.