Why is it difficult to control? Sabertooth is an expensive item.

Hi DJ getting back to this one. I have 2 Dual hbridges as I need to control all 4 wheels independently as the Mecanum wheels go forward backwards left right and sideways left and sideways right.  I added the two PWM Hbridge Skills so I have Hbridge PWM  and HBridge PWM 2 and I can control the car with these so all ports are configured etc but its impossible to drive.  The Hbridge Movement Panel only supports 1 dual hbridge so I am looking for some guidance on the best way to do this either with a custom Movement Panel or maybe through AutoPosition panel etc

i also added 4 wheel encoders to track positions but the Arduino code only supports 2 left and right wheels. Not sure if modifying code to support 4 wheel encoders as the NMS probably doesn’t support 4 so I guess I am better off with the intel sensor for position only. Also think I would need to merge esp32 code and wheel encoder code on the EZB firmware or add a second Arduino.

Haha, you can't have four encoders reliably. The math would say one wheel is 20 cm away from the car over time. The error would be significant, but it sure would be funny. You could add the code, but that gives you a more substantial degree of error. Also, you're Arduino would need to double the interrupted use, which exceeds the interrupts available. So you'd need two Arduinos. If you wanted four encoders, haha, it would be easiest/smartest to do it on the Arduino side. Add each side wheel value and divide them by 2 to get the average, which will grow in errors over time. But it's the only way you could do it. Four encoders don't make sense.

Also, wheel encoders on a wheel designed to slip are a terrible idea. Make sure you use a lidar with the real sense if that's the route you're going. But really, a good lidar (such as the RPLidar A1) and you won't need the real sense tracking camera. The lidar does a far better job on its own.

As for your Movement Panel question would be to use a custom movement panel. That's precisely what it is for. The way that the robot navigates will be somewhat challenging to control. With the custom movement panel, you'll have control over what you need out of the robot for navigation. That's going to be an exciting configuration when you're done! It'll be like a drone - so maybe using the joystick would be a good start.

thanks for the advice @DJ. I will play with the custom Movement Panel and intel sensor for now. My Lidar is still on order from China but its only been two weeks.  I ordered a monitor from dell thinking it was next day delivery in January, it turned up on Tuesday.

Electronic components are crazy. China really is stating our dependency on them. But at least people eventually get their stuff.

I ordered my RPI from RobotShop. It took longer than they said as well.

The RPI has an rpm spin. That will affect how accurate the slam pose is predicted. So having the robot move slower will help accuracy. Can your Omni wheels move slow and still move the robot?

i don’t have any experience with those wheels. And the only times I’ve seen them are on r/c toys. They’re driving one million miles an hour and banging into things like bumper cars haha