Thread: Drivetrain PID tuning
View Single Post
  #23   Spotlight this post!  
Unread 12-28-2016, 02:30 PM
ollien ollien is offline
Registered User
FRC #5202
  
Join Date: Feb 2015
Location: United States
Posts: 276
ollien has a spectacular aura aboutollien has a spectacular aura aboutollien has a spectacular aura about
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?
Reply With Quote