CODEWITHSUNDEEP
javarobotics
James Breedlove
James Breedlove

Reputation: 11

FRC Java Mecanum Drive

I am the programmer for my FRC Team 4468 and we are using mecanum wheels this year. We are trying to control the robot with two joysticks, one for moving in a direction (mecStick), and another for rotation (rotStick) using this line of code.

 myDrive.mecanumDrive_Cartesian(mecStick.getX(), mecStick.getX(), rotStick.getY(), 0);

The robot will move in the Y direction (fowards, backwards), and will rotate but won't move in the X axis. Could someone tell me what i'm doing wrong please.

Thanks :-)

public class RobotTemplate extends SimpleRobot {

RobotDrive myDrive = new RobotDrive(1,2,3,4);
Joystick mecStick = new Joystick(1);
Joystick rotStick = new Joystick(2);



public void robotInit() {

}


public void autonomous() {

}

public void operatorControl() {

    //myDrive.setSafetyEnabled(true);

    myDrive.mecanumDrive_Cartesian(mecStick.getX(), mecStick.getX(), rotStick.getY(), 0);

    Timer.delay(0.01);


   }

}

Upvotes: 1

Views: 1546

Answers (1)

dc74089
dc74089

Reputation: 31

Looks like you pass mecStick.getX() twice, one should probably be mecStick.getY(). I'm not familiar with the RobotDrive class, so I'm not sure which should be switched. The WPILib Javadoc is your friend, you can find a copy hosted by team 2168 at http://team2168.org/javadoc/. Look for RobotDrive on the left bottom list, and check there.

Best of luck from 1902, Exploding Bacon!

Upvotes: 3

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