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ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
GNU General Public License v3.0
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Does the code support cars with Mecanum wheel? #15181

Closed liu-jiaming closed 3 years ago

liu-jiaming commented 3 years ago

Feature request

I'm working on the Mecanum wheel，I hope APM can support it.

Platform [ ] Rover

Additional context Here's a description of Mecanum Wheels： https://www.vexrobotics.com/mecanum-wheels.html

jmachuca77 commented 3 years ago

https://ardupilot.org/rover/docs/rover-motor-and-servo-connections.html#omni-vehicles

liu-jiaming commented 3 years ago

https://ardupilot.org/rover/docs/rover-motor-and-servo-connections.html#omni-vehicles

This is my car,it's the second type of page, right?

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rmackay9 commented 3 years ago

@liu-jiaming, yes, it should be the middle one. The OmniX.

By the way, AP's support of Omni vehicles is not quite complete. So you'll find you can move the vehicle laterally in manual mode but not in other modes. So for example in Autonomous modes the vehicle will continue to steering back towards the line between waypoints instead of moving sideways towards the line.