Help with Mecanum wheels

VEX V5 General Discussion Technical Discussion
1

My team is looking to use the Mecanum wheels. We think that we have them on correctly by the box however the robot only goes forward and backwards not sideways and across. Is there a certain type of programming that we need to use or am i just driving it wrong? Please any help is much apreciated.

                                                                                       Kaleb Lange
                                                                                        Team 3281 
                                                                                        TechStorm
                                                                                           York, PA
2

Well there is a certain type of programming that is used but it is fairly simple to set up.

Can you provide use a top down picture of your chasis so we can see the wheels as well as the code you are using.

Are you using EasyC or RobotC?

3

You have to put the mecanum wheels in a specific orientation. Check the link for more info:

http://www.robotshop.com/media/files/PDF/mecanum-wheels-introduction-10009.pdf

4

Sample Code:


			//fwd,    turn,      strafe
mtrTarget[DRIVE_FL] = vexRT[Ch3] + vexRT[Ch1] + vexRT[Ch4];
mtrTarget[DRIVE_BL] = vexRT[Ch3] + vexRT[Ch1] - vexRT[Ch4];
mtrTarget[DRIVE_FR] = vexRT[Ch3] - vexRT[Ch1] - vexRT[Ch4];
mtrTarget[DRIVE_BR] = vexRT[Ch3] - vexRT[Ch1] + vexRT[Ch4];
5

Hello robotc sample mecanum drive, works fine for me if you follow the diagram on the back of the box, and depending on how you have mounted all 4 of your motors, the reversing of polarities in the program

task main()
{
  //Loop Forever
  while(1 == 1)
  {
    //Remote Control Commands
    motor[frontRight] = vexRT[Ch3] - vexRT[Ch1] - vexRT[Ch4];
    motor[backRight] =  vexRT[Ch3] - vexRT[Ch1] + vexRT[Ch4];
    motor[frontLeft] = vexRT[Ch3] + vexRT[Ch1] + vexRT[Ch4];
    motor[backLeft] =  vexRT[Ch3] + vexRT[Ch1] - vexRT[Ch4];
  }
}
6