Odometry Holonomic 3 wheels robot

reference math used this

matrix

|x| = | a b c | * |s1|
|y| = | d e f | * |s2|
|w| = | g h i | * |s3|

invers

|s1| = | a b c | * |x|
|s2| = | d e f | * |y|
|s3| = | g h i | * |w|

motor set

s1 = a_inverse* x + b_inverse* y + c_inverse* w;
s2 = d_inverse* x + e_inverse* y + f_inverse* w;
s3 = g_inverse* x + h_inverse* y + i_inverse* w;

Author

Danu andrean