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AustinSchuh AustinSchuh is offline
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FRC #0971 (Spartan Robotics) #254 (The Cheesy Poofs)
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Re: Can I use gyro to drive straight in teleop period?

Quote:
Originally Posted by soundfx View Post
Our team reuses this class as a basic implementation of a pi controller attempting to keep rotation to a minimum. We only usually only use it for holonomic drive trains, but it could easily be used for a tank drive. We only use a pi controller here, but you could easily modify this for a more accurate pid controller, or use the wpilib class.
I'd suggest here a reasonably stiff P controller. That'll get the OP most of the gain for fewer corner cases. We use essentially P gyro compensation.
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