There is a 2 axis accelerometer in the kit this year.
An accelerometer will give you an accurate velocity reading (after a simple integration. Remember: position, velocity, and acceleration are all interconnected) for the robot as a system. If you are checking overall velocity, this will be fine. If you need each individual wheel's velocity, it may not be the best solution.
If you can tell me, how are you out of interrupts? There's good ol' interrupts 1 and 2 (as configured in Kevin's encoder code), but you can also set your code to run interrupts off pins 3-6. Do you really have 6 interrupt driven sensors? I'd be afraid of interrupt overflow before I ever worried about not having enough hardware interrupts to work with. See the interrupt source at
www.kevin.org/frc for more info.
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Originally Posted by Chriszuma
Well then you would lose your serial port. What you could do is get one of those fancy 360-degree position sensors (they run about $50 though),
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There is also a gyro included in the kit this year.