Quote:
Originally Posted by JohnGilb
Ether, your follow wheel mounting assumption is correct. They were positioned as in your diagram, and they were omniwheels.
We did use them to calculate a rotation rate, let's call that Rotation_Follow. We also had rotation from the gyro, let's call that Rotation_Gyro.
We found that Rotation_Follow wasn't as good as the Rotation_Gyro, we suspect due to minute wheel scrub and small errors accumulating, but it did not suffer from drift. Consequently, we used Rotation_Gyro exclusively, but ignored any change in rotation while Rotation_Follow was 0 (typically at the start of the match before the robot was moving anywhere, or during testing when the robot spent a lot of time on a bench or disabled). This eliminated a large part of our gyro drift.
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This is a clever solution. A
Kalman Filter would be another good way to combine accurate (but drift-prone) gyro measurements with less precise (but stable) odometry measurements.