Omni kiwi

VEX IQ General Discussion
1

hey guys, i’m looking for some information about omni kiwi (3 wheels) on Vex IQ, but the information on the internet sometime didn’t correct.
I need some picture about the omni and if you have the file code by Vexcode IQ, please send it to me, thank you so much.

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Hi!
You can find information about IQ drivetrains here. You should be able to recreate them from that resource.
Good luck!

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I see that page, but when I click the page show me that they don’t have any information about it

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What specifically do you need ?
searching the forum will turn up several topics discussing kiwi drive, for example.

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Hmmm, I need file code on vex code because I’m not study python

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Not sure anyone has written example code for VEXcode, but in general simple drive code would follow this form

c=Controller()

def drive():
    x = c.axis1.position() * -1.0
    y = c.axis2.position() * -1.0
    r = c.axis4.position() * 0.5

    W1 = (-0.5 * x) - ((0.866) * y) + r 
    W2 = (-0.5 * x) + ((0.866) * y) + r
    W3 = x + r

    robot.spin_wheels( W1*2, W2*2, W3*2 )

(which will not run on IQ, from another robot)

get x, y and rotation from the controller.
calculate the three wheel speeds, W1, W2 and W3

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