Quote:
Originally posted by seanwitte
Thanks for the information.
For one or two turns you can add up the magnitude and get repeatable results, but when we tried to do it over 15 seconds there was too much drift. One of the programs is set up to drive laterally across the field looking for bins using an IR ranger. When it sees one it turns 90 degrees, drives forward to push it out of the scoring zone, then reverses, turns 90 degress to rejoin the search path. The robot could only make maybe 2 transitions before it drifted so much it was useless.
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One thing I had to watch for was the offset of the gyo output was not 127 as commonly assumed, but closer to 128. Thus, you would have a less-than-one-degree/sec turn to the right added to the robots position.
It might be fun to put the gyro through an op-amp low-pass filter with an adjustment for the offset that has an even lower pass filter, an arrangement that would put an end to the ceaseless digital filtering schemes.