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→Engineering Project Data
A holonomic system is when the number of controllable degrees of freedom equals the total degrees of freedom.
A holonomic system is when the number of controllable degrees of freedom equals the total degrees of freedom.
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=Project Purpose=
Developing software, and design hardware using sensor integration, with a view to developing skillsets and knowledge concerning holonomic drive systems. This will allow team members to utilize holonomics in the WAM-V Propulsion, Control, Guidance, and Sensor sections during RobotX
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=Engineering Project Data=
=Engineering Project Data=
===Versions of Robotic Platform===
===Versions of Robotic Platform===
{{Gallery
|title=Current Version Platform
| width=150 | height=190
|align=left
|footer=
|File:Crawler Bot Ortho.jpg
|alt1= With suspension, and Computer
|Ortho View
|File:Crawler Bot Top Down.jpg
|alt2= Batteries, Computer, and Power Management
|Top Down View
|File:Crawler Bot Suspension.jpg
|alt3= Close up of Suspension
|Side View
}}
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{{Gallery
{{Gallery
|title=v1:Development Platform
|title=v1:Development Platform
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===Robot Body and parts===
===Robot Body and parts===
<3d scale="2" width="200" height="200" norotate="true" color="aabbff">MainBody.stl</3d>
<3d scale="3" width="200" height="200" norotate="true" color="aabbff">HolonomicDriveControlArm.stl</3d>
<3d scale="7" width="200" height="200" norotate="true" color="aabbff">Second type of wheel hub.stl</3d>
===Robot Omni wheels===
<3d scale="2" width="200" height="200" norotate="true" color="aabbff">omni_plate.stl</3d>
<3d scale="3" width="200" height="200" norotate="true" color="aabbff">omni_roller.stl</3d>
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===Omni Wheels and Positioning===
===Omni Wheels and Positioning===
==Code and Mathematics==
==Code and Mathematics==
<source lang="Python">
===Laptop Code ===
<syntaxhighlight lang="Python">
#!/usr/bin/python3
#!/usr/bin/python3
</source>
</syntaxhighlight>
===Robot Code ===
<source lang="Python">
<source lang="Python">
# -*- coding: utf-8 -*-
# -*- coding: utf-8 -*-