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Originally Posted by inkling16
Study up on your trigonometry and dimensional analysis.  |
I've already been graphing test data (both encoders and a sample angle) in Microsoft Mathematics. I think I've got the graphing figured out.
Inputs:
ΔX and ΔY
relative to the robot
Δangle
relative to the last angle
Once one has these variables, they can use the rotateXY block in the geometry library to translate the whole thing to whatever angle is given by θ, the gyro.
Please correct me if I'm wrong on any of this.
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On an unrelated note, make sure that your wheels are not pushing too hard on the ground, or you might be sacrificing some acceleration/pushing power come competition.
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Good idea! Do you think they need to be spring-loaded in the case that a robot gets tipped a bit?