The Mecanum Drivetrain - Dutton-Christian-Robotics/Learning-to-Code GitHub Wiki

Things to keep in mind

• Thinking of things from a wheel/motor-centric perspective: clockwise vs counter-clockwise
• Thinking about things from a robot-centric perspective: which direction a motor must turn to provide forward movement for the robot

The Basics

• Movement—or really, acceleration—happens when you push or pull something. In scientific terms, we call this "applying a force."
• When you apply a force to an object, it will generally move in the direction the force is being applied.
• The rollers on a mecanum wheel are angled at 45 degrees to the front-back direction. When we think about how that applies force to the robot, we need to think about the forward/backward component of the force and the side-to-side component. (show diagrams)