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Re: Yaw Sensor
32 bit math will chew up time. With the AVR processors (my fav) 32 bit floating point is marginally slower than long, so I tend to use float for stuff that might need several scaling operations with integer math. I suspect something similar might be going on with the PIC. The nice thing about float is that scaling comes for free (with caveats, of course).
You must be doing wheel encoder odometry. I skipped the trig stuff and just use the Gyro for heading and the wheel encoders for velocity control and overall distance traveled. We do odometry (using the heading and distance) off line (via the dashport) and, apparently, the PC tracks the actual robot position pretty well.
Good luck! I ship in the next hour - and I am GLAD to have it gone!
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