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Originally Posted by gwross
Could this be the phenomenon we saw at kickoff? When Dave gave the 'bot a nudge and it corrected itself, it overshot before it settled at the target orientation.
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Well, not really. The gyro turn is not really a PID loop it is just turning until
it moves to the correct orientation within an error band. We set the error band
pretty tight so it overshot just a little. Check out cmd_turn() in robot.c.