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We basically used the LabView holonomic drive. We added in a PID control which used gyro readings to keep the robot facing the same direction. The PID adjusted robot rotation to compensate for the unwanted rotation. For some reason, no matter how much we tuned the PID, the robot rotated when driving at angles other than 0, 90, 180, or 270.
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Thanks for the clarification. If you guys figure it out, I'd be very interested to hear what you found, if you're willing to share.
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