Test số mecanum

  Channels[0] = map(ps2x.Analog(PSS_LY), 256, 0, -255, 255);
  Channels[1] = map(ps2x.Analog(PSS_LX), 0, 256, -255, 255);
  Channels[2] = map(ps2x.Analog(PSS_RX), 0, 256, -255, 255);

  Motors[0] = Channels[0];
  Motors[1] = Channels[0];
  Motors[2] = Channels[0];
  Motors[3] = Channels[0];

  Motors[0] += Channels[1];
  Motors[1] -= Channels[1];
  Motors[2] -= Channels[1];
  Motors[3] += Channels[1];

  Motors[0] += Channels[2];
  Motors[1] -= Channels[2];
  Motors[2] += Channels[2];
  Motors[3] -= Channels[2];

  if (motors[i]>=0) {
      analogWrite(MotorInput[i], motors[i]);
      analogWrite(MotorOutput[i], 0);
    } else {
      analogWrite(MotorInput[i], 255+motors[i]);
      analogWrite(MotorOutput[i], 255);
    }

Đi thẳng: Núm trái y = 0,x = 128, núm phải: x =128
channel 0 = 255, channel 1 = 0 ,  channel 2 = 0
motor 0 = 255 + 0 + 0 = 255
motor 1 = 255 - 0 - 0 = 255
motor 2 = 255 - 0 + 0 = 255
motor 3 = 255 + 0 - 0 = 255



đi chéo trái: núm trái: y = 92, x = 70, núm phải: x = 128
channel 0 = 183,channel 1 = -139, channel 2 = 0

motor 0 = 183 -139 +0 = 44
motor 1 = 183 +139 - 0 = 322
motor 2 = 183 + 139 +0 = 322
motor 3 = 183 - 139 - 0 = 44