So we have a six wheel drive with 4 mecanum and 2 Omni wheels, and we can climb but the mecanum wheels have an issue with drifting when we climb sometimes and I wanted to know you’re insight on the matter. I have had a few ideas, one of which is putting some raised wheels in front of the mecanum wheels. Any help would be appreciated. Thanks.
I’m going to ask the thing that everyone will probably want to know - Do you have a picture of the drive?
One thing I’ve seen teams do (which works really well by the way) is attach a little tank tread to their front wheel to help get up the platforms. The tread doesn’t touch the ground during the match, but its top is above the top of the platform.
So I have plastic wedges to help me climb and I noticed that when it helped with my drifting problem. It’s still there, but it’s less severe. Baguettes idea will be more effective than this, but if you don’t have that option this is easy to test at least.
Try creating a dead zone for your strafing control so that when you push the stick forwards, the drive wont strafe unless the stick is pushed intentionally to the side.
by the looks of the picture are you sure that the wheels are actually hitting the platform? We had the same problem because the frame of our base was hitting the platforms before the wheels
I already have a dead zone, that isn’t the issue it is just the mecanum wheels not connecting with the ground the same
no The sprocket act as a wedge to get up. Though the wheels do touch in the back
This seems to be an inherent issue is the choice to use mecanums. Is there any chance you could add passive climbing assist wheels?
Sorry I don’t have any better pictures. This was from my robot late-early season. You could use the same idea, but just put the wheels (not contacting the ground while driving normally) at a couple of different places to help you climb. I’ve seen other robots that had a very similar idea that worked pretty well, also.
Edit: That’s a 2.75” wheel there behind the sprocket, if you can’t tell.
One of our teams, 4300R has a mecanum base and they use a passive wheel in order to climb. I was located near the back of the drive and only hits the top half inch of the platform. We will send photo and video soon
Try creating a “creep” float, set that to x amount of pct, then if the joystick axis is under creep, set power to 0 (and work out math for how this works with mech strafing)
We already have that code