View Full Version : [white paper] Auto-Balance Gyro Code

Brandon Martus
06-14-2001, 02:34 AM
I just put up a white paper by the TechnoKats which deals with the code they used for their auto-balancing.

White Papers (http://www.chiefdelphi.com/papers/index.html)

Matt Reiland
06-14-2001, 07:33 PM
Thank you so much TechnoKats for the help.

We have enver used the Gyro but would like to see a successful implementation in code.


Andy Baker
06-21-2001, 12:16 AM
You are welcome... I hope that next year's game lets more of us use the gyro. It's a pretty cool sensor.

The development of this code and system was a team effort. We had two software engineers (Jeff Burch and Gabriel Gallegos) develop it with the help of two students (Matt Lundberg and Shrutish Dawande) and our electrician extra-ordinare (Mike Stahl).

The rest of us non-programming types just sat back and watched it balance.

You shoulda seen us during our 6:00pm practice at Nationals. We were all freaking out because the auto-balancing was not working.... and this was after we "advertize" (brag) to people about coming to our practice to watch it work.

After we got back to the pits, we found out that the gyro was unplugged, accidentally... by me. ooops. he, he.

Andy B.

Matt Reiland
06-21-2001, 09:36 AM
Its pretty neat Idea that at the time you autobalance you become pretty much non-multitasking and dedicate the robot to performing the autobalance with the multiple serout commands.

After seeing it work, it was impressive.

I am hoping to release some code from our summer tester that can make some basic tasks a little easier, we are playing around with a custom operator interface box that shows calibration and things like that. Next year we want to use some type of steering system like the Chief. For our first time we will probably have to steer all four wheels at the same time instead of independent like they had this year.

Again thanks for sharing, that goes out to all of the teams that dedicate some of their time to make sure others understand how they did things