Thread: Penalizing mecanum wheeled robots durring alliance selection.
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Unread 02-09-2014, 22:57
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Re: Penalizing mecanum wheeled robots durring alliance selection.
Quote:
Originally Posted by Max Boord View Post
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.
Gyro drift occurs when the gyro has very small errors in the rotation value it is reading (turning at 1 degree / second versus reading 1.001 degree / second).

When you integrate the error of rotation, you get an error in position.

What was discussed was that after the gyro runs for sixty seconds, the cumulative error is about 2-3 degrees, not 120 to 180 degrees.


Yes, a field centric robot that is off by 2-3 degrees per second is going to be difficult to drive, but I'd say something is fundamentally wrong with the system you're referencing (gyro not calibrated, pin out is wrong, code is wrong).
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