Quote:
Originally Posted by Tom Line
In 2009, we created a field-centric turret system that let the gunner push the joystick in the direction he wanted the turret to face, no matter what direction the robot was pointing in. The only issue we had with the system was a hard impact would knock the gyro angle off.
In the off season, we've planning on developing a swerve drive, and I'd like to set the controls up the same way. As a result, I already know one of my primary controls problems is going to be how to keep that gyro from jumping out of alignment.
...
3. You could continue to try to improve the gyro itself. I see that sparkfun now sells 1500 degree/second gyros. While I haven't dug into their specs to check if their resolution and drift is still suitable, it seems like you'll reach a point where you simply don't have the issue anymore.
|
If your problem is due to gyro saturation caused by bumps then you might
consider another hybrid solution with coarse and fine scaled gyros. Coarse is a high-max-rate-low-resolution gyro and the fine is a low-max-rate-high resolution gyro. Simply switch the heading integrator input from the fine gryo to the coarse when saturation is detected on the fine gyro. This is added complexity, but gives you the best of both worlds of precision and dynamic range.
I would use the encoder heading over this if they are on the robot.....if not , this might prove cost effective.