Quote:
Originally Posted by GeeTwo
In order to even have a chance at making this work, you would also need a gyroscope. At each time step, you would have to rotate the previous time step's x and y by the amount of angle you've turned (theta), then add the change in speed. Assuming x is to the right and y is forward, and theta is rotation to the right, you'd have to do: - ynew = yold*cos(theta) + xold*sin(theta) + yacc*rdelta
- xnew = xold*cos(theta) - yold*sin(theta) + xacc*tdelta
This is known as inertial navigation, and you can very quickly get lost in the intricacies if you're actually trying to use it for more than a few seconds, or in more than two dimensions, or across more than an area the size of, say, an FRC arena. Even staying in a 27-foot square box and limiting yourself to 2 minutes and 30 seconds, it would probably be a good idea to have a "reset" button that you can hit when the robot is actually stopped that sets both values to zero. |
Awesome! We have actually played around we this exact thing this season and have got it to work with exactly they way you have said it to be done. Now I just need to get velocity from the x and y direction relative to the frame. Getting the code to output a realistic velocity because we get random numbers out of the accelerator.