Quote:
Originally Posted by jakemochas
In order to solve this problem, the drivers rezeroed the gyro every time they lined up for a shot at the fender or the key (the Reset() function). For all of our shots, the robot faced directly forward, which gave the perfect opportunity to rezero. Between each shot, the gyro was good enough to keep the robot oriented in the correct direction. Also, we trained our drivers in a no-gyro mode (robot-centric) in the event of a gyro failure. This training paid off. Even though we had gyro calibration failures in each regional event, the robot appeared like it was operating normally to the outside observer.
In the end, we were not satisfied with the performance of the gyro. One of our goals for next year is to find a better gyro solution for our swerve drive system.
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We used a gyro in the same fashion for pretty much the same drivetrain and agree 100% with your comments. We also zeroed on shots and are looking into better implementations for a gyro.