Quote:
Originally Posted by Ether
What was disastrous about it?
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...insufficient testing to uncover errors in the steering motor's output logic coupled with a bad Cypress board and a hardware issue with our CAN bus.
Using the sensor to determine field orientation angle worked fine. We ditched the Cypress board, fixed the CAN issues and reverted back to robot-oriented control and what you are calling a halo-style driving scheme. We just did not have time to untangle the logic.