Quote:
Originally Posted by PhilBot
For what it's worth, I wouldn't totally trust the output of the KOP gyro.
See my related thread here:
http://www.chiefdelphi.com/forums/sh...ad.php?t=55200
My experience with the gyro indicated that it has a long time constant of it's own. I did some basic tests, simply moving the gyro (mounted on a block of wood) by hand and I could see quite a long run-on effect (the gyro was still indicating motion long after the motion had stopped).
With a moderate turn rate (say 90 degrees in a second) the gyro would take a good part of a second to come to a complete stop after the turn had completed. Simulating the gyro with a pot showed none of the same run-on (so it wasn't a software issue).
This made it almost impossible to control the motors with the gyro in anything except a straight line run (where any turn was only due to variation in the motors/friction etc)
The other annomily was that this latency only appeared at the end of a turn, not the beginning, which makes me think there is some other processing/filtering going on the sensor board itself. Either way it was a mystery I couldn't resolve. |
Thanks for the info. Delayed gyro data would also explain what I am seeing but I haven't noticed that before. I think I can run a little test by rotating the gyro and stop the rotation with closing a limit switch and look at the timing from when the SW sees the digital input change to when the gyro heading changes stop. I do know that the gyro is dead on accuracy wise after it is calibrated but there could be a lag. I'll post the results of the lag experiment.
Thanks,
Greg