[Doug Leppard]

We have put driver assist in the past, but usually it gets ignored by the drivers. But where it makes sense then it is helpful, and we are doing some driver assist this year.

Tonight we are working on putting the PID in the drive straight using encoders. We had the P but not the ID and it worked well, but when we went 40 ft it was slightly off. I think adding in the whole PID to that will clean that up. Problem with doing the whole PID is that each of the letters will fight with one another to get that balance, so tuning it is critical.

So that is why I suggest doing the P first and then adding the rest. I will post what the results were.

Remember to make sure that your two encoders are putting out the same values for the same distance. We did this by pushing the robot by hand for 10 feet following a straight line and writing down the readings. We did this five times in a row and averaged the readings. We found the right was 5% higher than the left. So once the encoders were read we multiplied the left by 1.05 to make sure they were equal.