Strafing Mecanum with Gyro

[frenchie4111]

Our team has installed a Gyro, the gyro is zeroed, and in the exact middle of our bot. We can read the values, and we put the gyro angle directly into the Holonomic Drive gyro input. We have noticed that this helps our robot move forward in a very precise line, but does not help our strafing ability, and it is easier/more precise to self correct instead.

We would like to know if there is a way to make the Gyro improve our strafing capabilities.

[Chris is me]

What about your strafing capabilities do you find difficult right now? What problems are you trying to solve?

[frenchie4111]

It does not strafe perfectly, it rotates while it is going

[jackinabox]

Are you using PWM? Last year we had a meccanum drive on PWM and had the same problem. This year we are using CAN, and our meccanum setup drives PERFECTLY.

[Greg McKaskle]

It sounds like you need to post code or math describing your control method. Also, are you using a polar form of robot drive?

Greg McKaskle

[frenchie4111]

Are you using PWM? Last year we had a meccanum drive on PWM and had the same problem. This year we are using CAN, and our meccanum setup drives PERFECTLY.

Do you know what your code was like that made it work perfectly with CAN?

And I will post my current code once I get a screen shot.

[Steve_Alaniz]

Are you using PWM? Last year we had a meccanum drive on PWM and had the same problem. This year we are using CAN, and our meccanum setup drives PERFECTLY.

I must admit that I didn't give this notion much credit but I suppose using a digital setting with CAN vs a timed signal from PWM may actually merit looking at more closely. Do you have an explanation as to why there might be a difference or is it just an observation? Anyone else have input?

Steve