Quote:
Originally Posted by Ty Tremblay
I would suggest simply relying on encoders in FRC, but if you want to implement sensor fusion, I suggest relying on your encoder values for actual robot movement and using your gyro for checks and balances. (For example, if your robot's wheels are not on the ground, your encoder values will still show the bot as moving, but your gyro will show no angular accelerations other than noise. From this, you can determine that your bot probably didn't move.)
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There has been an influx of very good gyros for FRC. Specifically the NavX is accurate over long periods of time, and even has a form of sensor fusion like you were talking about. It can be set up to rezero using the magnetometer when the robot stops moving. If you can afford it, using good gyro will give you a lot of improved performance over just using encoders.