Quote:
Originally Posted by kylestach1678
We're just using a gyro (the one on the WCP Spartan board, the ADXRS453), running onboard the RoboRIO at 200hz. After our fairly long calibration sequence (~45 seconds, to the dismay of our autonomous programmers  ) we've been getting around 2 degrees per match of drift.
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Yep, the 453 is an excellent gyro. Though I don't think you really need 45 seconds to calibrate it.
It's rare that the actual rotation rate of the robot by itself will saturate the gyro. What's more likely is that collisions will. A short period of saturation can throw a gyro off by a substantial amount.
That can usually be solved by giving the drivers the ability to rezero, or by making your calculations relative to something else, like a camera angle.