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What is the benefit of rotating based on acceleration, instead of joystick angle?
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Good question, essentially because the balls always want to roll in the direction they were previously heading, and so we want to adjust that heading with the back of the robot. Also, many times, the robot's acceleration is not in the direction of joystick position.
Here's an example. Driver presses left on the joystick causing the the robot to accelerate left in field space. The robot automatically rotates to be facing left, just as it would if the code followed joystick position. Then, as the driver approaches where he wants to be, he slowly lets up on the joystick. with code that is tied to the joystick, the robot would continue to be facing left until it came to a stop. this would allow any balls that are being corralled to escape. If the code is tied to acceleration, then as the driver lets up on the joystick, the robot will be accelerating to the right and so the robot will turn around to and catch the balls.
As far as I can tell, this sort of thing applies to all situations, so the driver ideally won't have to worry about orienting the robot to move the balls around.