|
Re: Cross-Language Question ... Control Systems Practices ... Encoders/Gyros/Accels
Our team uses the gyro to drive straight. It may seem unnecessary, but a little difference in the speed of the motors and/or gearboxes results in the robot curving when driven straight. The gyro, despite it's drift, is capable of detecting the unwanted rotation and, after a little scaling, the error between that rotation and the desired rotation can simply be added to the motors. You'd be amazed how much this makes a difference in driving.
As for encoders, we generally use them for controlling any mechanism that is driven by a motor and requires control feedback to operate.
|