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Unread 02-04-2015, 02:19
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Re: pic: Makeshift Kiwi Vex-FTC-FRC hybrid

Quote:
Originally Posted by Andrew Schreiber View Post
... A delay would resolve this issue. I was curious if there was a better way than that. We thought about sampling the gyro rate and if it was 0 and the commanded rate was 0 we could enable heading lock.
....

The problem with using both the command AND rate being at 0 is that you would rarely ever see a gyro rate of 0. Vibration, noise, and drift will all give a reading out of a gyro. All of these tend to average out around 0 if a good calibration is achieved, but it still rarely stops at 0.

As Alan suggested,
Quote:
Use whatever joystick input commands the turn to turn off heading hold whenever it's not at neutral, and turn it back on again after the turn is finished. That could be as soon as the joystick is back at neutral, or it could be slightly delayed to account for the robot's inertia. See how the driver likes the handling with various amounts of delay in the reactivation of heading hold mode.
As for your other suggested options, these two should work quite well.
Quote:
Originally Posted by Andrew Schreiber View Post
- Scrapping it and saying "back in my day we didn't have fancy gyros to hold our heading, we did it uphill, both ways, with drill motors"
- Telling the mechanical folks we were never turning and all systems needed to be on a turret
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