Quote:
Originally Posted by John_1102
The take the encoder data to make the autonomous.
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From the video, it looks like the issue occurred during the rotation. The encoders would have the same issue as they would have different slip each time. If I were to try it I would hook up a gyro and 2 joysticks, one for going straight, one for rotation (just so you don't do both at the same time) Driving straight could be by the joystick, and then any time you rotate the code could reference the gyro values. Also by doing it this way, the robot could probably accomplish the task faster as you could speed up the rotation period.
Also by using the gyro, you could also make sure that straight was actually straight.
The encoders may be a good idea for the straight period though, as long as there is not too much slip. For going straight, if you have a reference point, a rangefinder may work well too. Allowing the robot to speed up the process faster than a driver could.
I believe that wheel slip is the most variable thing in autonomous. So I would tend to lean away from anything dealing directly with the wheels (ie encoders, js values)