Body: <p>I'm trying to make my EV3 robot move in a square path, and an infinity path.</p>
  <p>I've tried <a href="http://thetechnicgear.com/2014/04/howto-build-3-wheels-holonomic-robot-using-lego/" rel="nofollow noreferrer">this code</a> for a square path but it's not working.</p>
  <p><a href="https://i.sstatic.net/ZlmhR.jpg" rel="nofollow noreferrer"><img src="https://i.sstatic.net/ZlmhR.jpg" alt="Image of a triangular robot with omni wheels" /></a></p>
  
Comments.ContentLicense: CC BY-SA 4.0
Comments.CreationDate: 2020-07-02T16:37:19.847Z
Comments.Text: Can you be more specific about which part is not working?
Comments.UserDisplayName: David Lechner
Comments.ContentLicense: CC BY-SA 4.0
Comments.CreationDate: 2020-07-03T00:31:17.757Z
Comments.Text: Please send pictures of your robot and explain how it moves. Whether it uses legs or wheels or fans is necessary information for the question.
Comments.UserDisplayName: mindstormsboi
Comments.ContentLicense: CC BY-SA 4.0
Comments.CreationDate: 2020-07-04T14:18:59.030Z
Comments.Text: @DavidLechner, I mean when I download the program and start it the robot isn't moving in square path
Comments.UserDisplayName: mohammad996
Comments.ContentLicense: CC BY-SA 4.0
Comments.CreationDate: 2020-07-04T14:22:38.277Z
Comments.Text: @mindstormsboi, ok done!
Comments.UserDisplayName: mohammad996
Comments.ContentLicense: CC BY-SA 4.0
Comments.CreationDate: 2020-07-04T20:45:33.290Z
Comments.Text: I don't understand how that robot with triangular-aligned wheels can moe in a straight path, did that link tell you to put the wheels that way? you should put the wheels like a plain old car, it will do better. if this helps let me know and I'll post as answer.
Comments.UserDisplayName: mindstormsboi
Comments.ContentLicense: CC BY-SA 4.0
Comments.CreationDate: 2020-07-04T23:39:53.670Z
Comments.Text: @mindstormsboi Looks like [omni wheels](https://www.robotshop.com/de/en/58mm-plastic-omni-wheel-compatible-servos-lego-mindstorms-nxt.html)...
Comments.UserDisplayName: Uli
Comments.ContentLicense: CC BY-SA 4.0
Comments.CreationDate: 2020-07-06T11:41:08.490Z
Comments.Text: Let's start with something simpler.  Have you managed to get it to move in a Triangular pattern?  (i.e. to prove that you can drive it correctly - I *believe* that the ratio of the motor speeds should be the `Cosine` of the angle between the wheel and the direction of travel, so an Equilateral Triangle will require ±1 for 1 wheel, and ±0.5 for the others, while a Square will require various combinations of ±1, ±√(3/4), ±0.5, and 0.  Although, I guess you could also manage an Equilateral Triangle with ±√(3/4) for 2 wheels, and 0 for the other...)
Comments.UserDisplayName: Chronocidal
Comments.ContentLicense: CC BY-SA 4.0
Comments.CreationDate: 2020-07-06T15:04:50.730Z
Comments.Text: "but it's not working." Please specify exactly how it is not working, i.e. what is it doing instead of the expected outcome. A video would probably be the best, but a graphical representation could also enable us to help you.
Comments.UserDisplayName: zovits
Comments.ContentLicense: CC BY-SA 4.0
Comments.CreationDate: 2020-07-10T18:12:29.120Z
Comments.Text: if its not moving in square path, what shape or direction is it moving in instead? edit the question to explain what is going on.
Comments.UserDisplayName: mindstormsboi
Tags: <ev3><programming>
Title: EV3 square pattern motion
UserDisplayName: mohammad996
ThreadText: # EV3 square pattern motion
  
  (Asked by: username_0 on 2020-07-02)
  
  I'm trying to make my EV3 robot move in a square path, and an infinity path.
  
  I've tried [this code](http://thetechnicgear.com/2014/04/howto-build-3-wheels-holonomic-robot-using-lego/) for a square path but it's not working.
  
  [![Image of a triangular robot with omni wheels](https://i.sstatic.net/ZlmhR.jpg)](https://i.sstatic.net/ZlmhR.jpg)
  
  **Tags:** ev3, programming
  > **Comments:**
  > **username_1**: Can you be more specific about which part is not working?  
  > **username_2**: Please send pictures of your robot and explain how it moves. Whether it uses legs or wheels or fans is necessary information for the question.  
  > **username_0**: @DavidLechner, I mean when I download the program and start it the robot isn't moving in square path  
  > **username_0**: @mindstormsboi, ok done!  
  > **username_2**: I don't understand how that robot with triangular-aligned wheels can moe in a straight path, did that link tell you to put the wheels that way? you should put the wheels like a plain old car, it will do better. if this helps let me know and I'll post as answer.  
  > **username_3**: @mindstormsboi Looks like [omni wheels](https://www.robotshop.com/de/en/58mm-plastic-omni-wheel-compatible-servos-lego-mindstorms-nxt.html)...  
  > **username_4**: Let's start with something simpler.  Have you managed to get it to move in a Triangular pattern?  (i.e. to prove that you can drive it correctly - I *believe* that the ratio of the motor speeds should be the `Cosine` of the angle between the wheel and the direction of travel, so an Equilateral Triangle will require ±1 for 1 wheel, and ±0.5 for the others, while a Square will require various combinations of ±1, ±√(3/4), ±0.5, and 0.  Although, I guess you could also manage an Equilateral Triangle with ±√(3/4) for 2 wheels, and 0 for the other...)  
  > **username_5**: "but it's not working." Please specify exactly how it is not working, i.e. what is it doing instead of the expected outcome. A video would probably be the best, but a graphical representation could also enable us to help you.  
  > **username_2**: if its not moving in square path, what shape or direction is it moving in instead? edit the question to explain what is going on.  
  
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  ## 0 answers
  
  