8/17/2019 Mecanum Algorithm

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MECANUM ALGORITHM

Basic Movement

SPEED

Angle M1 M2 M3 M4

90 1 1 1 1

45 1 0 0 1

0 1 -1 -1 1

315 0 -1 -1 0

270 -1 -1 -1 -1

225 -1 0 0 -1

180 -1 1 1 -1

135 0 1 1 0

The 1s and 0s represent the speed of each wheel. This also means that each wheel with 1s

needs to run at the same speed – i!en the same "#$%&it !ia motor dri!er.

'omple( $o!ement

1234 =

1 1 −1 + 21 −1 1 + 211   −11   −1 + 21 + 2    ∗   #here l1 = 17.5 &l2 = 15.25 & R=7.6 (cm)

)ut since we are controllin these four wheels usin microcontroller and a dri!er* all we

need is the ratio &etween these wheels and put !alues from there.

8/17/2019 Mecanum Algorithm

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+ll mo!ement

)asicall, what these ta&les represent is the ratio of speed the four wheels need to ha!e in

order for the ro&ot to tra!el to desired anle. This alorithm can &e !er, useful once we ha!e a

sta&le and hih resolution analo control console – which is e(actl, wh, we didnt implement this

alorithm in $/o' 14 &ecause our controllers ha!e a !er, poor analo resolution.

Degree w1 w2 w3 w4 w1 w2 w3 w4 Degree

90 100 100 100 100 100 100 100 100 90

100 80 80 100 80 100 100 80

100 0 0 100 0 100 100 0

100 40 40 100 40 100 100 40

100 20 20 100 20 100 100 20

135 100 0 0 100 0 100 100 0 45

100 -20 -20 100 -20 100 100 -20

100 -40 -40 100 -40 100 100 -40

100 -0 -0 100 -0 100 100 -0

100 -80 -80 100 -80 100 100 -80

180 100 -100 -100 100 -100 100 100 -100 0/360

180 100 -100 -100 100 -100 100 100 -100 0/360

80 -100 -100 80 -100 80 80 -100

0 -100 -100 0 -100 0 0 -100

40 -100 -100 40 -100 40 40 -100

20 -100 -100 20 -100 20 20 -100

225 0 -100 -100 0 -100 0 0 -100 315

-20 -100 -100 -20 -100 -20 -20 -100

-40 -100 -100 -40 -100 -40 -40 -100-0 -100 -100 -0 -100 -0 -0 -100

-80 -100 -100 -80 -100 -80 -80 -100

270 -100 -100 -100 -100 -100 -100 -100 -100 270

Degree w1 w2 w3 w4 w1 w2 w3 w4 Degree