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Re: Holonomic + gyro/PID
The gyro is used in allowing the robot to be controlled reletive to the driver(driver-centric) as opposed to the traditional robot-centric mode.
For example, if you push forward on the stick, the robot will move away from you, pulling it back will bring it closer to you.
A PID loop can be used to control this angle more precisely.
Gyros DO drift over time. This is measured by Degrees/minute. Check your model's datasheet for the exact rate.
I recommend you have your program "Zero" out the gyro reading at the beginning of autonomous and teleop(given that the angle should the same at the end of auton). In Arizona last year, our robot was left on during an especially long reset period and our autonomous program behaved strangely, almost incurring a penalty.
Perhaps you could use a complementary filter with an accelerometer and gyro. This will make your angle heading more accurate. Google is your friend.
A PID loop is can also be used to control the velocities of each wheel. You must use an encoder on each wheel.
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Drive Coach Team 5012 Gryffingear / Antelope Valley FIRST teams / EWCP - (2013 - Current)
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[FF] FIRST Pick
2014 FTC Los Angeles Regional Compass Award Winner.
2017 - San Diego Regional / Sacramento Regional / Las Vegas Regional
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2014 - Inland Empire Rookie All Star + Highest Rookie Seed + SF (2339, 1967, 5012) / Las Vegas Rookie All Star / Galileo Division Imagery
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