实践与理论上关于Lejos坐标系的矛盾

Question

I know the Coordinate system of leJOS is a cartesian coordinate system.The positive X-axis is pointing directly in front of the car. The positive Y-axis points to the left of the X-axis. But I code a progarm and move the car, and then I have an issue:

I make the car go straight with navigator.goTo(20, 0); . But with navigator.goTo( 0, 20); ,it goes to the right instead of the left! I get the pose by navigator.getPoseProvider().getPose() . The value of X is 0 , but the value of Y is 20 instead of -20 !

Why?

Answer 1

now I have soved the question. Wheel wheel1=WheeledChassis.modelWheel(leftMotor, 3.1).offset(-8.5); becaues of the offset it should be 8.5