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Originally Posted by Windward
We don't have encoders working and it is far too late to implement them into our bot.
On a side note, we did the zero point method making the servo's and motor values equal to the search value, it works beautifully when we implemented. Basically the human player controls the turret until the "find target" button is pressed. Then the camera re-aligns the turret to aim for the green.
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you don't need encoders, you can fake the system.... just put the camera pan servo value in place of the encoder count, the PID math is the same