There are many ways to split robot control across two gamepads. We recommend testing different combinations with your team to decide what feels the most comfortable to you!
Our example here splits driving onto gamepad1 and all launcher controls to gamepad2. If you decide to split up controls differently, all that needs to be done is the preferred gamepad needs to be chosen from the dropdown menu.
Example of updating the gamepad for the feeder
Gamepad controls are found in the manualCoreHexAndServoControl, setFlywheelVelocity, and splitStickArcadeDrive functions. Below is how the launcher controls look once changed for this example.
Remember to make sure the check for the servo is updated to reflect the correct gamepad as well!
Upgrading to a (REV-45-2470) allows for new kinds of movement, giving the robot the ability to strafe side-to-side across the field.
For Mecanum Drive each wheel has an individual motor!
The following additional parts are needed:
- QTY 2
- QTY 2
- QTY 4
How a Mecanum Drivetrain is programmed largely depends on the driver's preference for how the gamepad is configured.
In our provided example, the left joystick controls forward/back and strafe then the right joystick controls turning. This code is based on the sample provided by FIRST in Blocks (BasicOmniOpMode).
When adding an Expansion Hub, you will need to create a new configuration file.
Upgrading from the FTC Starter Kit V3.1 to Mecanum Drivetrain V2:
To upgrade this year's starter bot to mecanum, you'll need to replace the two 15mm Plastic 90 Degree Brackets with two 15mm Plastic Inside Corner Brackets. These brackets secure the rear vertical extrusion to the rear C-channel of the drivetrain. Pre-loading the corner brackets with T-Slot Screws would be recommended.
Example Mecanum Drive Program
Mecanum Demo Blocks Code:
Mecanum Configuration - Control Hub and Expansion Hub
