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Originally Posted by brennonbrimhall
Hence my confusion. To reset every iteration of testPeriodic(), autoPeriodic(), or teleopPeriodic() would reset my current frame of reference every 20ms.
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Spencer said to reset it "as often as possible", not every 20ms.
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When would you suggest resetting the gyro, so that the drift is minimized, but the reference is functionally unchanged?
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It depends on the application. For example, if you're using it to measure the heading of the robot, you could have a reset button on the joystick that the driver could push whenever the robot is pointing straight downfield.