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Re: Holonomic + gyro/PID
I disagree. There is generally not enough slip to make a difference. I would argue that an accelerometer is an almost useless sensor for FRC robots, since we have access to encoders, which measure much more precisely than accelerometers.
I would actually argue that it is easier for a driver to drive the robot directly (robot-centric) than field-centricly, since 1. it is easier to drive, and 2. once you get used to driving, it is very nice to have direct control of where you want your robot go go.
Just because you have a holonomic drive, that does not mean it must use a gyro and be field-centric.
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