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Originally Posted by mechanicalbrain
You can determine the direction the wheel is rotating (though on second thought you can do this by recording direction through the speed controller) by monitoring the pattern.
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I'm not sure you can use the direction of the Victor on such a thing. Suppose I've got both of my drive motors set to 140 (forward, but really slow). Then another robot comes up and pushes me backwards at a rate of 12.93 feet per second. If I don't change my motor's direction, the program would think I'm going forward, when I am without a doubt going backwards. Then your software thinks you're somewhere you're not.