Yes, we used the gyro (last year)
The team we supported last year, #614, did use the gyro last year to help the robot drive straight and true. Drill motors were used to drive the robot, and they were mounted in an opposing orientation (ie, one motor would run fwd, other had to run rev, to move the 'bot forward, etc). Discovered that the motors did not have identical characteristics, etc. Used the gryos to sense the drift, left or right, and used this, banded and filtered a bit, as feedback into the motor control logic to help the robot drive straight. It wasn't perfect, but it did improve the straight-line performance.
I also remember one team that did, indeed, use it to help auto-balance on the bridge. I believe they used the gyro to sense when the bridge was moving down (after they had embarked up it), then used the optical sensors and reflectors to count wheel revs needed to move in the other direction to balance. Some previous experiments were obviously done to calibrate that part of it.
I'm sure other guys figured uses for it as well. This year, well, not sure if we'll use/need it yet or not.
HTH,
Night Vision Guy.
|