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VEX Omni wheels
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Author:  CARBOT [ Wed Aug 28, 2013 10:08 pm ]
Post subject:  VEX Omni wheels

I worked on a VEX Omni wheel project last year. There was a key software function written to allow motion based on a compass type heading. The picture shows how the wheels are installed on the chassis. The video shows how sensors were used to track the table edge at high speed.
Code:
void robotmove(int heading)         //Function to move a specific direction
{  //Heading of 0 degrees is foreward, 90 is right, 180 is reverse, 270 is left
  lfspeed = speed * sinDegrees(heading+225);
  rfspeed = speed * sinDegrees(heading+135);
  lrspeed = speed * sinDegrees(heading+315);
  rrspeed = speed * sinDegrees(heading+45);
}


Attachments:
File comment: VEX Omni chassis
image.jpeg
image.jpeg [ 515.3 KiB | Viewed 6080 times ]
File comment: VEX Omni wheel demo

[ Play Quicktime file ] IMG_0201.MOV [ 679.26 KiB | Viewed 6080 times ]

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