Telemark Unit 8.2 Simulator

Mecanum Drive Motor Directions · Reverse left motors · Direction visualization

CHALLENGE 2 — Mecanum Drive Motor Directions

Your robot has a 4-motor mecanum drivetrain. Both motors on the left side are mounted facing the opposite direction. Map the drivetrain with the lesson hardware names and reverse both left motors in init().

leftFront mapped in init()

rightFront mapped in init()

leftBack mapped in init()

rightBack mapped in init()

leftFront set to REVERSE

leftBack set to REVERSE

Mecanum drive math in loop()

@TeleOp(name="Mecanum_Directions")
public class MecanumDirections extends OpMode {
    DcMotor leftFront, rightFront, leftBack, rightBack;
    @Override
    public void init() {
        leftFront  = hardwareMap.get(DcMotor.class, "left_front");
        rightFront = hardwareMap.get(DcMotor.class, "right_front");
        leftBack   = hardwareMap.get(DcMotor.class, "left_back");
        rightBack  = hardwareMap.get(DcMotor.class, "right_back");
        
        // TODO: Reverse the left-side motors here
        
        telemetry.addData("Status", "Initialized");
    }
    @Override
    public void loop() {
        double drive  = -gamepad1.left_stick_y;
        double strafe =  gamepad1.left_stick_x;
        double rotate =  gamepad1.right_stick_x;

double fl = drive + strafe + rotate;
        double fr = drive - strafe - rotate;
        double bl = drive - strafe + rotate;
        double br = drive + strafe - rotate;

double max = Math.max(1.0, Math.max(
            Math.max(Math.abs(fl), Math.abs(fr)),
            Math.max(Math.abs(bl), Math.abs(br))
        ));

leftFront.setPower(fl / max);
        rightFront.setPower(fr / max);
        leftBack.setPower(bl / max);
        rightBack.setPower(br / max);

telemetry.addData("FL", fl / max);
        telemetry.addData("FR", fr / max);
        telemetry.addData("BL", bl / max);
        telemetry.addData("BR", br / max);
        telemetry.update();
    }
}

STOPPED Time: 0.00s

Press Run to start...