Quote:
Originally Posted by Jonathan L.
We are looking at using the navX displacement values for automode.
We are communicating with it via SPI, and receiving yaw, pitch, roll etc. We can reset the yaw. However, I can not find a function to reset the displacement. Is there one?
Do you have any other tips for using displacement? I may have other questions moving forward.
|
On average, the displacement accuracy is ~1 meter per 15 seconds of operation. FRC teams usually want no more than 1cm of error in autonomous. Therefore the displacement data is likely not usable for tracking position in autonomous.
You should be aware that any modern IMU will have similar performance characteristics. We are several years away from technology that is inexpensive enough for FRC that can track position to 1cm of accuracy every 15 seconds.
More details can be found in the NavX-MXP FAQ:
http://navX-mxp.kauailabs.com/intro/...ked-questions/
That said, the navX-MXP yaw angle is very accurate, and that's what teams typically use.
In addition to euhlmann's recommendations, you might consider using wheel encoder readings and perhaps a follower wheel with an encoder for rotation speed and an angle encoder for relative orientation. Some teams have also fused the wheel encoder data with the yaw angle from the NavX-MXP.