There have been a few requests for field centric X-drive code in the past couple of weeks. I’ve linked to an old RobotC example, but I revised that code today for my demo drivetrain and pushed out to github. My drive uses 8 motors, but it should be easy to revise the code for four. Obviously, it needs a V5 Inertial sensor to run.
project is here.
Very clean and organized code. Thank you so much!
VERY clean code.
It almost looks like you do this professionally…
What’s the point of the variable temp?
I assume you mean here.
// rotate coordinate system - IMU positive angle is CW
int temp = ctrl_right * sin(theta) + ctrl_fwd * cos(theta);
ctrl_right = ctrl_right * cos(theta) - ctrl_fwd * sin(theta);
ctrl_fwd = temp;
in the first line. you cannot update ctrl_fwd as it’s used in the second line, so temp holds the value that will be used for ctrl_fwd after the next calculation is done.
/sigh - Title is right, body is wrong. Not an X drive but Mecanum drive. Nice code!
On the programming side they are the same, no?