亲爱的作者，我想进一步了解程序底层，有没有该项目具体相关的公式。

[cbwznb]

Dear author, I would like to further understand the underlying program and whether there are any specific formulas related to this project.

[wuhanstudio]

Hi,

The formulas are described in Section 3 of this paper (eq. 21-26):

https://research.ijcaonline.org/volume113/number3/pxc3901586.pdf

[cbwznb]

亲爱的作者，我还想了解轮子半径，横向和纵向轴距，减速比，编码器每圈的转速等各种参数之间的关系以及最后和控制部分的联系，请问还有这方面的说明讲解吗，非常感谢。

[cbwznb]

亲爱的作者，我还想了解轮子半径，横向和纵向轴距，减速比，编码器每圈的转速等各种参数之间的关系以及最后和控制部分的联系，请问还有这方面的说明讲解吗，非常感谢。 2223025466 ***@***.***  

…

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[wuhanstudio]

• 轮子半径，横向和纵向轴距 (Please focus on eq. 14, eq.15 & eq. 20, eq.21 for Mecanum Wheels)

https://research.ijcaonline.org/volume113/number3/pxc3901586.pdf

• 减速比 (GEAR_RATIO)

• 编码器 （https://www.chiefdelphi.com/t/encoders-velocity-to-m-s/390332）