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Originally Posted by Robby Unruh
More than likely it's a problem in mecanumDrive_polar itself. I have heard some nasty things from other teams about it.
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The sin/cos problem was fixed in the last update
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What I had to eventually do was program my own drive train (which works awful, but that's what the remainder of the season is for!) until we got a mecanum drive that suits our liking.
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We have used both the wpilibj and our own versions based on the whitepaper available here and both work great. You might want to revisit the library version now that its fixed.
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But before you go off and make your own, try getting rid of the Timer.delay(0.005); line. I don't know why you'd want to delay your operatorControl, as it would just make your robot move in little spurts.
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Delays (sleeps) are used to allow for other tasks to run. The throughput from the driverstation is limited to the packet transfer rate and running DS dependent code (like joysticks) faster than that is a waste of CPU cycles.
And in the digital world everything runs in little spurts, only real life is continuous.
The trick is to keep the spurts below the threshold where you notice them, like TV or movie images.