Quote:
Originally Posted by efoote868
One thing I would like to test is driving a field centric drive with a very large gyro drift (say +/-10 degrees).
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I tried. Its impossible. Also, its not even the problem of a set drift. Its when it starts to drift several degrees per second. then, when robot not moving (to inbound, shoot, whatever) and you try to drive again you can not tell where is forward.
Once you realize the problem exists things don't get much better. Your robot will start driving in ever shrinking circles when you press forward.
Quote:
Originally Posted by efoote868
If the driver can see the robot, I don't think a drift that large will matter (in tele-op). An interesting question would be, "How long can someone drive a field centric drive before performance suffers from gyro drift?"
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2 degrees fixed is noticeable. 10 feels very weird. 2 degrees per second is enough to make a robot impossible to drive.
Quote:
Originally Posted by efoote868
Coming back around to my questions, if performance doesn't suffer with 10 degrees of drift, I don't think gyro drift should be a concern preventing teams from using field-centric drives.
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The main reason I think field-centric control it is not used more is fear of a delicate piece electronics being trusted to control a drive train. In addition, robot-centric is not that hard to understand.