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Tool

Tool|ExternalAxis|Others

UDP tool

Mecanum Wheel Demo

Get the wheel velocity by inputing 8-wheel-car's velocity

Inputs

Name	ID	Description	Type
P1	P1	Position of wheel 1 in car's frame(mm)	Vector
P2	P2	Position of wheel 2 in car's frame(mm)	Vector
P3	P3	Position of wheel 3 in car's frame(mm)	Vector
P4	P4	Position of wheel 4 in car's frame(mm)	Vector
P5	P5	Position of wheel 5 in car's frame(mm)	Vector
P6	P6	Position of wheel 6 in car's frame(mm)	Vector
P7	P7	Position of wheel 7 in car's frame(mm)	Vector
P8	P8	Position of wheel 8 in car's frame(mm)	Vector
r	r	radius of wheel(mm)	Number
t	t	angle between x-axis of world with car frame's x-axis(deg)	Number
b	b	angle between x-axis of car frame's x-axis with wheel frame x-axis(deg)	Number
tvel	tvel	rotation velocity about z-axis of world frame(deg/s)	Number
xvel	xvel	moving velocty in x-axis direction of world frame(mm/s)	Number
yvel	yvel	moving velocty in y-axis direction of world frame(mm/s)	Number

Outputs

Name	ID	Description	Type
V1	V1	Velocity of wheel 1(deg/s)	Number
V2	V2	Velocity of wheel 2(deg/s)	Number
V3	V3	Velocity of wheel 3(deg/s)	Number
V4	V4	Velocity of wheel 4(deg/s)	Number
V5	V5	Velocity of wheel 5(deg/s)	Number
V6	V6	Velocity of wheel 6(deg/s)	Number
V7	V7	Velocity of wheel 7(deg/s)	Number
V8	V8	Velocity of wheel 8(deg/s)	Number