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Re: Autonomy: How Did You Guys Do It?
- 1 encoder on SuperShifting transmissions
- Transmissions in low gear
- 1 Gyro with semi-aggressive PID control for "drive straight"
1. Finely tune the encoder distances
2. DO NOT turn the robot on until it is set down. If they gyro init's before it's set down, then it's game over
3. Push the bot backwards a little so that the chains are pre-tensioned. This should help alleviate drive straight problems from lurching
4. Ramp up the speed rather than going 100% full blast
5. Dead-reckon to the peg
Once it was tuned, we had 9 straight auto-modes score.
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