Quote:
Originally Posted by Gregor
Encoders in teleop are still pretty useful if you can do it correctly. They make our movements much sharper.
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In my experience, having tried PD control on mecanum, having the gyro was much more important. I agree that you could get a good control loop on each wheel but I never felt it was a must have feature. I actually got rid of it because I felt it was overkill because it consumed a large amount of resources for a small gain.
You and me probably seen our fair of mecanum drives with no gyros or encoders. To me the gyro is a must have feature for mecanums to operate effectively. I seen so many team struggle with mecanum because they did not realize the importance of using a gyro. Hopefully OP comments more but I am speculating its a control issue.