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Have you tried printing the angle from the returnPIDInput() method?
Could you be turning the opposite direction that you want to be? If you turn right and that causes the angle to count up you'll never get to -90.
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Our robot turns left when the PID Loop is enabled giving us negative angles. (This is why the gyro was set to -90.0 instead of 90.0). Also, after I disabled the PID command, I checked the reading on the gyro (I have a button on the dashboard that prints out the Gyro Angle), it was somewhere around -1000 degrees. However, I will try printing the angle from the returnPIDInput() method to see what angles I get.
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a P of 1.0 your drive will always be turning at full power.
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I will take that into account. So if I want the robot to turn at half speed I set P to 0.5, correct?