Quote:
Originally Posted by Jared341
Using the gyro was very simple - the algorithm was just:
Code:
for each motor
motorCommand = <result of holonomic drive calculations>;
if we are trying to go straight (e.g. yaw command is zero)
motorCommand += Kp * getGyroRate();
end if
Tell motor to go "motorCommand"
end for
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Am I reading the above code correctly: you use the gyro only to make the robot drive straight when so commanded? You don't use it to control turning or strafing?
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