[Chris_Elston]

Anyone using Kevin's navigation script? How's it going for you? Was you able to get it to work for your team? At one point our team was doing ok then we went away from the software and now we are back to it but can't seem to get the PID to settle down. Actually the PID does settle down, but when we issue a CMD_DRIVE 1500 in the command list, the robot does not drive straight nor is it going the right direction, it's going backwards. We've changed the varibles:

/* Set these to change the motor direction,
1 = forward, -1 = backward. */
#define LEFT_DIR (-1)
#define RIGHT_DIR (1)

to

/* Set these to change the motor direction,
1 = forward, -1 = backward. */
#define LEFT_DIR (1)
#define RIGHT_DIR (-1)

But it still goes backwards and doesn't drive straight.

Also....
Does anyone know what these varibles do for sure?

/* Motor defines */
#define LEFT 0
#define RIGHT 1

I am bit confused at what we've got now. I am certain our encoders are working, checked them with an O-Scope. Any ideas or success stories anyone would like to share about getting your NAV code working?

Any trouble shooting tips would be appreacaited.