[kitscuzz]

We were just proud to get so many systems to work together:

The adc is now working in conjunction with the gyro code to integrate 400 times a second (which needs a long long, but we made it reset every 360 degrees to prevent overflow).

I'm soon to add in the Dual Axis Accelerometer to account for tilt so that I can kill the gyro integration if the tilt exceeds a certain angle.

We used the eeprom and trig funtions in order to make field-oriented holonomic (which I almost had working perfectly when they tore it out of my hands to ship it... hardware team didn't get the robot done until yesterday... sadness). And we're working on sticking the gyro bias into the eeprom as well in order to prevent recalculation every time you turn on the robot.

The encoder (a banner IR sensor) counts the number of times a wheel turns in order to keep track of the height of the arm.

And we were going to do the camera, but the autonomous ended up being so enormous, that we had to abandon it. We made the whole thing with multiple light tracking, and we had a plan, but it was just too difficult to get it running straight without a working Dual Axis Accelerometer and perfect camera code that we had to give up. 15 seconds is not very much time.

Although it's not particularly useful code, anyone who wants it can PM me for the accelerometer and gyro code we made. It's a little too processor intensive if your planning on doing the camera, but it can integrate up to 6200 times a second to keep really close track of the gyro angle or velocity. For whatever reason, we couldn't seem to make it keep track of the velocity very well, but we cut the error on the angle down to .5 degrees for a full spin on the bot.