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Originally Posted by Nate Laverdure
the drift in FRC-grade gyros often makes them unusable after ~10 seconds.
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Did you try all the suggested ways to mitigate this?
- make sure your robot is perfectly still when the gyro is being calibrated ("still" as in "not moving" and "not vibrating (e.g. compressor off)")
- make sure the gyro is at operating temperature before calibrating
- add a button for the driver to re-zero the gyro when the bot is pointing in the zero direction.
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I made sure the literature was provided, but I'm fairly certain my programming student derived everything from scratch.
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Would he be interested in posting his equations for discussion on this forum? It's possible they were not exactly correct, and this could have affected your attempt to implement field-centric control.
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I believe he also threw out a couple of the WPI libraries and rewrote them.
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I don't think the WPILib has any functions that would be usable for your 3-wheel asymmetric kiwi arrangement.