We've recently build a kiwidrive robot, and now we want to use it as a musical instrument.
It has three wheels, each with a motor that produces a distinct tone.
The formulas used to calculate motor speeds are as follows:
M1 = 0.5 * X - 0.866 * Y + R
M2 = 0.5 * X + 0.866 * Y + R
M3 = X + R
Since we are no good at math, we need help reversing these formulas so that for a given M1, M2 and M3, we want to calculate X, Y and R.
yields: x = 39.608, y = -8,43418013856813, z = 107,392
In any case my initial formula was wrong but I would have given you your points anyways if the answer had been correct, but as demonstrated above it doesn't seem to be. Correct me if I made a mistake.
The correct formula should have been:
M1 = -0.5 * X - ( sqrt( 3 ) / 2 ) * Y + R
M2 = -0.5 * X + ( sqrt( 3 ) / 2 ) * Y + R
M3 = X + R
R = 0.5 * M1 + 1.5 * M2 - M3
X = -0.5 * M1 - 1.5 * M2 + 2* M3
Y = (1/1.732)*(M2 - M3)
do you need to see the details?
AW