This is an example project to explore matrix mathematics as it applys to a four motor, underwater, remote operated vehicle.
By configuring motors in a 45 degree offset arrangement like so:
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You can achieve stable movement in two dimensions, including yaw rotation about the z-axis. This example could easily be expanded to six motors allowing for three dimensional movement, with pitch about the x-axis or tilt about the y-axis rotation. I leave that up to the reader as an exercise. Further, I would challenge the reader to consider what it might take to accomplish both pitch AND tilt.
- Install dependencies:
pip install -r requirements.txt - Connect XBox 360 or other 360 driver compatible controller.
- Configure which axes control X, Y, and Yaw movement.
- This project assumes DOWN in the Y, and RIGHT in the X are positive.
- Configure the invert values as well to account for your controller. Alternatively, reconfigure your motors.
python FourMotorExample.py
Manipulate joysticks to see resulting matrix calculations