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Unread 09-12-2013, 07:19
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Re: Team 2471 swerve drives

Quote:
Originally Posted by gpetilli View Post
Yes, FRC1559 is planning this for 2014. We are implementing a fusion sensor of a compass and gyro in a velocity PI loop. The gyro is the P velocity feedback and the compass is the I feedback (conceptually it directly reads the integrated error).

When turning, the current heading is updated to the current compass. When not turning, the PI loop is closed loop to hold the heading (which helps reduce affect of gyro drift).

At initialization, the robot snaps a zero heading. At any time the driver can press a "hat" button to command the heading to be one of the primary orientation (plus maybe feed station). The PI loop will drive the orientation while the driver continues to command XY translations.

We have this working with our asymmetric Killough drive, but only have about 30min of testing under our belt. Focus has moved to a similar fusion PD loop for X and Y with a follower wheel for velocity error P and an accelerometer for the differential error D.
That's really neat. I've ever thought of using two different sensors, an angular rate and an absolute rate sensor as two different sources of feedback for a PID loop. Out of curiosity, which compass sensor are you using and have you had interference issues in the past?