Complex Driving - Dutton-Christian-Robotics/Learning-to-Code GitHub Wiki

One of the benefits of mecanum wheels is not only can they perform 10 different driving behaviors—they can perform them at the same time, turning while moving forward, for example.

• Think about "when I'm asking the robot to move, how much of that motion is front/back, side-to-side, or turning like?"
• New drive function that takes the three types of motion and combines them
• Need to agree to what -1/0/1 values we associate with each type of movement
• Adding together powers can lead to values > 1. But anything above 1 is meaningless. So we need to make the actual powers we use proportional to the "biggest", which will get scaled to 1.

Directions

• Forward = +
• Strafe Right = +
• Turn Right = +