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Trajectory-following of a three-wheeled omni-directional mobile base #1495

Closed flex1sh closed 2 years ago

flex1sh commented 2 years ago

WPIlib has trajectory-following classes for a wheelbase based on mecanum wheel, there are also classes for creating a trajectory-following of a differential base, but there are no classes for an omnidirectional three-wheel base, why? her support?

prateekma commented 2 years ago

We did not work on kinematics classes for this configuration because it is relatively rare to see in practice. To implement trajectory tracking for this type of drivetrain, you would need to write your own kinematics class to convert chassis speeds to individual wheel states.

Daltz333 commented 2 years ago

I'll be closing this issue, feel free to comment any further if you would link to continue this discussion.