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Originally Posted by tseres
...the only problem is we didn't have any sensors...
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The entire basis of a PID control routine is the ability to sense what's going on and take action to make it match what is desired. Without sensors, you can't have any sort of closed-loop feedback control.
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...we dont need any encoders because the gyroscope algorithms/functions we made will automatically correct for any motor error.
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Gyroscopes are fine for rotational sensing, but without encoders, how is the robot going to know how fast or how far it's moving?