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Originally Posted by Gusman1188
Looking back on this post, the reason we did this was because our joysticks didn't stay exactly centered and you would have to re-adjust the trim 85 billion times in a match if we used those joysticks.
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My team had a similr problem. To correct it I wrote some code that would center the joysticks when a button was pressed. It would consider the current position of the joystick the center. It worked by finding the difference between true center and that position and always adding it to the output for the motors. It worked well on our robot and should not be to hard to edit for your robot.
P.S. If you would like the code PM me. The program was a little rushed so it was a tad buggy, nothing too major, but I'm sure with a little work they can be worked out.