We are trying to make a robot which uses Mecanum Wheels to drive, as we experienced some success with this setup last year. However, due to the design of our shooter, especially now that we’ve added a few new components to it, the center of mass is towards the geometric back of the robot’s base, rather than the geometric center. This causes issues with strafing, as when we strafe, the robot strafes around it’s center of mass, and since this is in the back the robot instead ends up essentially pivoting on its back wheels instead of strafing left or right.
Because we have come a long way in the design of our robot and are hesitant to make additional modifications to try to re-balance our center of mass, I am looking into possible programming solutions for this issue, such as reducing the input the back motors receive from the joystick channel which tells them to strafe. I was, in the meantime, wondering if anyone else out there has had this issue before, and what ideas/tips they might be able to provide in regards to this issue (besides “don’t use mecanum wheels lol”, since it’s a bit late for that). I would appreciate hearing any (well, almost any) input on this problem.
Thank you all for your time!