Vex Holonomic Drive
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13,328
Uploaded by natpie1 on Nov 13, 2006
This is a holonomic remote controled robot built with Vex.
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i have a question for recreating this kind of robot. im using vex as well. how difficult is it to drive, and what channels did you plus the motors into on the microcontroller?
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It would have to have the third wheel stopped most of the time, and only used when turning. Maybe a bunch of if statements would work for you
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Just put all the wheels diagonally so then it can spin and go back and forth freely.
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Actually if you mount the video camera to an extra servo so you can look up and down that can be even more fun.
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I'd like to let you know that this video is what first got me interested in holonomic drive trains, and the omni-drive type in particular. Since I saw this video, I've done quite a bit of work with both the mechanics, and mostly the code aspect, and I'd like to thank you for the inspiration!
ajosmer 2 years ago
I was similary inspired by a video. I had never herd of holonomic drives before I saw one by accadent. Be sure to post your results too!
natpie1 2 years ago
Hi...I have something similar with 3 wheels arranged tangent to the center. Any suggestion on an algorithm to control this thing? Having trouble locating tri-wheel control algorithms. Thanks.
wheagy 3 years ago
Your probably going to end up doing some vector math. I've seen a few tri-wheel bots but haven't read anything on the subject. I have been thinking about building this bot again and adding a compass module and using vectors to set an alignment platform for the controls that do not change. It may make it a bit easier to control, but I haven't sat down to try it out yet.
natpie1 3 years ago
My works just like that except (go back, forth, and turn) how did you program it to go on a diagonal?
tjhynson 4 years ago
I didn't do anything special. All the wheels are assigned a value directly related to two axis on the remote. Then and offset is applied to allow it to turn (There are a lot of conditionals in the turning offsets to keep the wheels from reversing directions when min or max values are reached). So one stick controls forward/back and Left/Right. If I want to go diagonally i just move the stick diagonally. The other stick allows it to turn.
natpie1 4 years ago