Holonomic chassis

VEX V5 Technical Support
#1

Hey, for holonomic chassis, can I link the whole chassis movement on the controller on only channels 1 and 2? Or should I also use channel 3 and 4 additionally to 1 and 2 for a good holonomic drive? Thanks , some coding help would be really appreciated

#2

We use three channels total, one for forward/back, one for turning, and one for strafing. It’s done in a similar control scheme as most fps video games.

#3

For a holonomic drive, you should only need 3 channels, as @mwang17 has stated. However, you could set it up as to whenever you need to strafe you press a button and the channel you use for turning could act as a strafing channel.

#4

You never want to strafe and turn at the same time?

#5

You can strafe and turn at the same time with that set up.

#6

Do you mind sharing the code.for this setup?

#7

Sure.


//channel 1 is forward/back
//channel 2 is turning
//channel 3 is strafing
motor[frontLeft] = vexRT[Ch1] + vexRT[Ch2] + vexRT[Ch3];
motor[frontRight] = vexRT[Ch1] - vexRT[Ch2] - vexRT[Ch3];
motor[backLeft] = vexRT[Ch1] + vexRT[Ch2] - vexRT[Ch3]
motor[backRight] = vexRT[Ch1] - vexRT[Ch2] + vexRT[Ch3];
#8

I took your Code and made the driving controls make a little more sense and made it so that the strafe can go at any angle.

//channel 2 is forward/back
//channel 1 is turning
//channel 4/3 is strafing
motor[frontLeft] = vexRT[Ch1] + vexRT[Ch2] + vexRT[Ch4]+ vexRT[Ch3];
motor[frontRight] = vexRT[Ch1] - vexRT[Ch2] + vexRT[Ch4] - vexRT[Ch3];
motor[backLeft] = vexRT[Ch1] + vexRT[Ch2] - vexRT[Ch4] + vexRT[Ch3];
motor[backRight] = vexRT[Ch1] - vexRT[Ch2] - vexRT[Ch4] - vexRT[Ch3];
#9

Interesting to use all four channels. How does that help?

#10

There are only 3 vectors to account for, so using the 4th channel provides no benefit.

#11