Thread: Integration of Gyro with Easy-C Pro
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Unread 28-01-2008, 07:20
BradAMiller BradAMiller is offline
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Re: Integration of Gyro with Easy-C Pro
Quote:
Originally Posted by marccenter View Post
Brad,
So, the Gyro update is independent of whatever other programming I implement in Easy-C? I know that the FRC updates at 38 Hz rate (26.2 msec). I believe the VEX updates faster (18.5 msec?). What rate does the Gyro update? Because it is tied to a timer/interrupt, there must be some base rate, right? I am trying to used the Killer Bees paper "Working the Angles" to use the Gyro and am trying to figure out how to integrate the readings (thus, how often the Gryo is updated).
Every 20ms the gyro interrupt service routine reads the gyro rate and does the integration. This changes the raw turn rate value returned from the gyro to a heading. The heading is the value that is actually returned. I suspect that this is the integration they're referring to in the paper - so you probably don't need to do it again.
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Robotics Resource Center
Worcester Polytechnic Institute