Quote:
Originally Posted by baronep
So this summer I have decided to work on programming challenges that would make our team more competitive during the FIRST season but that wouldn't necessarily have time to do during the first season.
One problem I'm trying to tackle is how can I use the gyro deg/sec output to calibrate a realtime auto trim for out robot. We have a mechanum system btw. I think I really only need to trim the z axis (rotation) so the accelerometer wouldn't be used. I need to figure out the correct formula to modify the z joystick value based on the gyro input and the current z axis joystick input (as if I were turning).
Does anyone have any ideas as to how to do this?
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what I hear you saying is this:
a) you want the vehicle to rotate at a speed proportional to the z-axis command when the z axis command is non-zero, and
b) when the z-axis command is zero, you want to use the gyro to hold the vehicle's rotational orientation fixed regardless of X and Y motion.
is that correct? If not, please explain in more detail what you are trying to accomplish.
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