We tackled using the gyro and a proportional loop to do the turns and tuned the gain, here is our proof.
http://youtu.be/3Q_lrvty8Ig
We spent yesterday going through the drive straight gyro code, and could use a little help with the Arc Drive.vi
What does the 5.43 constant represent? Is that the max speed in FPS of the bot in that gear?
It looks to us, that the throttle is divided by that “range” which gives a fraction of top speed, or essentially the motor controller output, 0 to 1. The “wheel” comes from the gyro error, times a gain kp, then is scaled by the “fraction of top speed” and added to throttle. Throttle is speed calculated by the position error to target * gain…
We are still a little foggy on what the range of values of “wheel” should be and how they relate to the 5.43 number.
Thanks for the help, good luck this season, look forward to seeing the Bees again in 2012.
Scott.