I created a three-wheeled omnidirectional robot on omni-wheels, there is also a program in which I can plot a trajectory when plotting a trajectory, such data are obtained (X, Y, Tangent X, Tangent Y, Theta), but I do not understand what formulas should be used to transform these are given in speed for each wheelenter image description here

  • $\begingroup$ Please clarify your specific problem or provide additional details to highlight exactly what you need. As it's currently written, it's hard to tell exactly what you're asking. $\endgroup$
    – Community Bot
    Oct 18, 2021 at 0:15
  • $\begingroup$ What do you mean when you say x tangent and y tangent? I thought at first maybe it was some way of stating the heading, but you've got theta listed, too. Do you have a diagram that shows what all these terms mean and your robot's physical arrangement? $\endgroup$
    – Chuck
    Oct 18, 2021 at 2:58
  • $\begingroup$ unfortunately, I myself cannot understand what these angles are calculated on, but to build the trajectory I use PathWeaver, it is included in the wpilib library. $\endgroup$
    – Flex1sh
    Oct 19, 2021 at 14:52
  • $\begingroup$ link to patweaver : mcm-frc-docs.readthedocs.io/en/latest/docs/software/… $\endgroup$
    – Flex1sh
    Oct 19, 2021 at 16:12


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