Mecanum wheel mixer
Drag the stick (or focus it and use the arrow keys). Release to centre — the firmware would brake on the next 300 ms watchdog tick. Rotation comes from the second stick axis on a real controller.
Mecanum mixer — drag the stick
| Wheel | mix | duty |
|---|---|---|
| FL | 0.00 | 0 % |
| FR | 0.00 | 0 % |
| RL | 0.00 | 0 % |
| RR | 0.00 | 0 % |
vx 0.00 · vy 0.00 · stopped
duty = 35 % + |mix| × (gear − 35 %), sign = direction. Values clamp at ±1.
What it's computing
The standard mecanum mix for body velocities (vx, vy, wz), then the same post-processing the robot uses: clamp to ±1, scale to the selected gear, and remap the magnitude onto [35 %, gear] so a light stick push still overcomes motor friction. Details and the reasoning behind keeping this in firmware are inMecanum Wheel Control on ESP32.