X drive Question

[Connor-91917B]

Hi. This Year, My team made a X drive, that works fairly well, but driving is hard to get used to, and the driver of the team asked me, the programmer, if it was possible to have the bot drive differently then normal. He wants me to code the bot, so whenever he uses the joystick, the bot moves to the left, no matter the orientation of the bot. I am not sure how I would accomplish this, so I thought i would ask on this forum. Thank you!

[2775Josh]

Field-Oriented Drive (FRC)

Epic tutorial

[jpearman]

seems like I posted this link just a few days ago, it’s old, and in RobotC, but the concept still applies and should be easy to port to VEXcode.

omni directional motion

I did a very quick implementation in ROBOTC of the code from the referenced paper in my previous post. I’m not going to post the whole program here as it contains several other “work in progress” libraries but the drive code ended up as follows. task DriveSystem() { int drive_l_front; int drive_l_back; int drive_r_front; int drive_r_back; int forward, right, clockwise; int temp; float theta; while(true) { // Get joystick values …

perhaps if there’s time I will create a demo project at the weekend.

[Connor-91917B]

Sorry, I completely forgot to reply to this. Thank you for this! I will look at it and try to update it to vexcode v5 pro c++. I would greatly appreciate a demo project.
Again, Thank you! This helps alot.

[jpearman]

The VEXcode version is in this topic.

V5 field centric mecanum code

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.