Quote:
Originally Posted by Thad House
If using the built in PID for drive control, are you guys using a gryo to keep the heading straight? If so, how do you keep it straight, as I don't see a way to sync talons on different sides. Do you just adjust the velocity setpoint based on the gyro angle offset?
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Quite simply, yes. There is a higher level controller on the robot adjusting for robot position (including heading). That controller generates wheel velocities which get fed into the Talon. This is nice because we can be generally confident the wheel will try as hard as possible to do the right thing without having to manage it manually.