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Re: This was definitely 1114s year.
Their mentor told me they use quadrature encoders on the output shafts for the drive wheels, and a 300 degree-per-second gyro (Digikey ADXRS300EB-ND). Using these, they keep track of their position of the field, and control the heading of the turn once they reach each position. Their hybrid controllers selected which lane(s) to be in.
Great ideas - accompanied by awesome implementation all around.
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