[asteb27]

Originally Posted by ayeckley

We did that in 2010 and 2011, but not since then. We found that the extra code complexity and attention to timing management required wasn't offset by a performance improvement in competition. Since we used mechanum wheels those years (be quiet Nick Lawrence, we still won Buckeye with it! ) we were able to do a neat trick where the robot would start in a fixed position, spin 360, drive to the top of the Bump, sidle on top of the Bump towards the Tower, then drive back off the Bump. Totally useless in game play, but kinda neat as a demo. Everything was done using cRIO resources, a YRG and encoders on all four wheels (with our own modified version of the WPILib mechanum drive routine that incorporated four independant PID loops). Got us one or possibly two RIIC Awards, so that was cool.

What is YRG?