Thread: Drivetrain PID tuning
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Unread 28-12-2016, 14:30
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Re: Drivetrain PID tuning
Quote:
Originally Posted by ahartnet View Post
Code:
Robot.drivetrain.arcadeDrive(DriveForwardSpeed, (Robot.drivetrain.getGyroAngle().getAngle()));
You might want/need to multiply the gyro angle by a Kp or -Kp. We actually ended up with the following:

Code:
Robot.drivetrain.arcadeDrive(-DriveForwardSpeed, (-(Robot.drivetrain.getGyroAngle().getAngle()) * Kp+.1));
How are you allowing the driver to adjust the robot's angle?
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