programming
As soon as I read the word triangular, there was a bit of a brain haze right behind my eyes. Then my visual cortex kicked in and now I have a migraine!
Please let us know… Forget video. We want code! Or in your case: high level pseudo code.
nice! i like those wheels
nice! i like those wheels and base.
Who cares about forward.
You can be such a techy sometimes 
Apearantly, Wowwee built a similar base for one of their’s, proving it can be done.
Here’s some formulas that
Here’s some formulas that can be used to calculate the direction and spin of a Killough platform robot like this.
And one robot similar, made for the Trinity Fire Fighting contest.
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Musings on Paint Sticks
Paint sticks are for artists. I’m a scientist and an engineer. That’s why nothing I start is ever really "finished."
The idea is that one or more wheels, potentially rotating an various speeds and directions relative to one another will move the “bogie” in a given direction regardless of what direction it’s facing.
Yeah, 3 wheels rotating the same direction and speed should rotate it about its centre. Any two wheels rotating in opposite directions will send it off in a straight line in the direction perpendicular to the third (non-rotating) wheel.
But look at the scribbles here. It’s clear that the wheels should be rotating in the direction of teh blue arrows in order to produce the overall motion indicated by the red arrows. The question is: what should the speed be?
To get it to go “forward” (bear in mind it has no “front”) as fast as possible, we drive the “front” wheels as fast as possible, leaving the “back” wheel fixed. To get it to go to the “right,” the “back” wheel rotates to the right with the frontleft wheel rotatingforward and the frontright wheel rotating backward. (Even though it relies on <I>Starfleet Universal Up</I> as it has no “front,” I’m now going to stop putting quotes round every reference.)
Hands up who doesn’t see the problem? Clearly, when arrempting tomove to the right, if I make the back wheel go full speed, it will move in a curve towards the top right.
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Voodoo
You call it “voodoo.” I call it "science."
It doesn’t have “forward”. I thought you’d enjoy that as an artist. The simplest way to make it go in a straight line is to drive two wheels in opposite directions while keeping the other one still. It’s a real brain bender at first!
Edit: actually “opposite directions” is even a relative concept.It might be more accurate to call them “opposite directions in terms of rotational symmetry.”
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