View Single Post
  #31   Spotlight this post!  
Unread 17-03-2010, 15:56
Ether's Avatar
Ether Ether is offline
systems engineer (retired)
no team
 
Join Date: Nov 2009
Rookie Year: 1969
Location: US
Posts: 8,132
Ether has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond repute
Re: fine control of robot with mecanum wheels

Quote:
Originally Posted by Jared341 View Post
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
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?


~