Quote:
Originally Posted by Ether
Ditto what Chris said about #1 and #2 and driver preference.
Since this is your first experience with holonomic, I hesitate to bring this up, but some have found that using the gyro as a fixed-angle reference to provide "field-centric" control (sometimes aka "driver-centric control") provides a superior driver experience with a quicker learning curve.
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We ran mecanum last year as well and very pleased with it. As stated above, solution #1 is what we went with. Early there was a problem with inadvertent spinning of the robot, so we programmed a deadband to avoid spurious rotations. We also found we had to limit the rate of rotation. If we spun at max speed, this is when gyro error would creep in. I forget the response limit of the gyro, but it was obvious we were exceeding it. I would also concur with adding switches (joystick or other hardware) that allow re-zeroing and canceling gyro compensation completely. Drivers didn't use it often, but it did prove convenient a few times.