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Originally Posted by robotaddict
Now comes the interesting part, how on earth do you control this darn thing?! Sure you can move in any direction, but this would confuse any mortal driver. So I had the "brilliant" idea of using a gyro to give the robot absolute direction, that is when you push the stick away and it goes away, and vice versa, but in uncomplicating the drivers' job I have complicated my own.
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This is exactly what Team 190 did with their 2005 robot. The field oriented controls allowed us to do things like rotate while translating in a straight line without causing a headache for the drivers. I am not a programmer, so I can't tell you how the code worked. I do know that we had trouble with processing speed, and that we had to convert all our trig functions to use integer math, but I don't know the details. Hopefully someone else from the team can fill you in.