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Originally Posted by Kevin Watson
Yes, exactly. So that Dave could show that the 'bot was actively servoing, Rich setup the code to servo using the encoders and gyro for a few minutes after Dave hit the start button and the 'bot did its routine. The gyros during that time were drifting and causing the 'bot to think that it had moved away from its intended heading. This happens with all gyros to one degree or another and is just something that has to be dealt with. I'm working to tune the gyro code to minimize this effect, yet stay pretty efficient.
-Kevin
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Kevin, have you thought about trying wheel odometry to derive heading? I found this site last summer, and I have been so busy and not active with any robotics that I have not had a chance to see if it actually works.
Scroll down to the navigating section
http://www.geology.smu.edu/~dpa-www/robo/nbot/