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Unread 12-03-2008, 18:16
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Ken Streeter Ken Streeter is offline
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FRC #1519 (Mechanical Mayhem)
Team Role: Engineer
 
Join Date: Feb 2005
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Re: Gyro Repeatability, Expected Drift ? ADXRS300?

Quote:
Originally Posted by billbo911 View Post
BTW, we are sampling at 1600Hz and taking a result every 32 updates for a total of 50 updates/sec using the ADXRS300. (These are set in the adc.h file)We are getting excellent results.
Interesting. In adc.h, we are using ADC_SAMPLE_RATE_800HZ and ADC_SAMPLES_PER_UPDATE_1. I presume that since we call "Process_Gyro_Data()" in our "Spin" loop that we are getting 800 updates/sec in our integration of the gyro angle. (At least we think we're getting that many updates per second; we haven't actually instrumented the code to see if our "spin" loop is keeping up.) Now I wonder if our lack of averaging is hurting us. (However, we needed to turn off the ADC averaging in order to get more predictable results from the absolute magnetic encoders we are using. Strictly speaking, however, I wonder if that's the correct thing to do...)
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