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Unread 18-03-2010, 11:56
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Jared Russell Jared Russell is offline
Taking a year (mostly) off
FRC #0254 (The Cheesy Poofs), FRC #0341 (Miss Daisy)
Team Role: Engineer
 
Join Date: Nov 2002
Rookie Year: 2001
Location: San Francisco, CA
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Re: fine control of robot with mecanum wheels

Quote:
Originally Posted by Ether View Post
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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Correct - for those two games (Rack N Roll and Overdrive), pointing our scoring mechanism in a consistent direction was the biggest obstacle to overcome in order to be effective. For strafing or turning, we let things run open loop - with a little practice, the driver is able to compensate for translation errors without even thinking about it.

There is no reason why you couldn't use the gyro to control your turns, but in general, 0 degrees per second is by far the most important turn rate setpoint. As buchanan pointed out, 47 deg/s and 52 deg/s doesn't make a lot of difference to a driver, but 0 deg/s and 5 deg/s does.