Quote:
Originally Posted by Tom Line
Does your joystick relate to the field, or to the robot?
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All of our desired crab angles have always been relative to the robot. It's the simplest, most intuitive solution in my opinion.
We've thought about making it relative to the field, but a good driver will beat out a noisy gyro reading any day. Unless you do some processing to keep it in check, gyros can be more and more unreliable the longer that it is being used because of the noise being included in the double integration.
Other than noisy data, a major downside to being relative to the field is starting position. If you don't line up exactly right, you're going to be off for the entire match.