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Re: Gyro stability?
I've had a little more time to think about this. In general, I'd advise against using a high pass filter on the heading unless you put in a lot of precautionary software. There are ways to do it without the negative effects, but if you don't have a lot of understanding of all of the effects of the HPF, I'd probably do without it.
If you're really concerned about the drift, add a trim knob to your control panel. Hook an encoder up to the Cypress board and attach it to a knob. Add a lot of friction to the knob so it doesn't move if accidentally bumped. Make your final heading calculation:
Heading = Heading + TrimKnob.
If you see your robot going at an angle slightly different than what you want, slowly turn the trim knob until the angle error disappears.
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An ounce of perception is worth a pound of obscure.
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